Shao Rui
/
AGV
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Revision 0:571a1835428e, committed 2021-01-25
- Comitter:
- shaorui
- Date:
- Mon Jan 25 08:36:48 2021 +0000
- Commit message:
- 1
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FlashWriter/FlashWriter.cpp Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,53 @@
+#include "stm32f4xx_flash.h"
+#include "FlashWriter.h"
+
+FlashWriter::FlashWriter(int sector) {
+ if (sector > 7) sector = 7;
+ __sector = sector;
+ __base = __SECTOR_ADDRS[sector];
+ __ready = false;
+}
+
+bool FlashWriter::ready() {
+ return __ready;
+}
+
+void FlashWriter::open() {
+ FLASH_Unlock();//Unlocks the FLASH control register access
+ FLASH_ClearFlag( FLASH_FLAG_EOP | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR | FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+ FLASH_EraseSector(__SECTORS[__sector], VoltageRange_3);
+ __ready = true;
+}
+
+void FlashWriter::write(uint32_t index, int x) {
+ union {int a; uint32_t b;};
+ a = x;
+ FLASH_ProgramWord(__base + 4 * index, b);
+}
+
+void FlashWriter::write(uint32_t index, unsigned int x) {
+ FLASH_ProgramWord(__base + 4 * index, x);
+}
+
+void FlashWriter::write(uint32_t index, float x) {
+ union {float a; uint32_t b;};
+ a = x;
+ FLASH_ProgramWord(__base + 4 * index, b);
+}
+
+void FlashWriter::close() {
+ FLASH_Lock();
+ __ready = false;
+}
+
+int flashReadInt(uint32_t sector, uint32_t index) {
+ return *(int*) (__SECTOR_ADDRS[sector] + 4 * index);
+}
+
+uint32_t flashReadUint(uint32_t sector, uint32_t index) {
+ return *(uint32_t*) (__SECTOR_ADDRS[sector] + 4 * index);
+}
+
+float flashReadFloat(uint32_t sector, uint32_t index) {
+ return *(float*) (__SECTOR_ADDRS[sector] + 4 * index);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FlashWriter/FlashWriter.h Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,39 @@
+#ifndef __FLASHWRITER_H
+#define __FLASHWRITER_H
+
+#include "stm32f4xx_flash.h"
+
+/* Base address of the Flash sectors */
+#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) /* Base @ of Sector 0, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08004000) /* Base @ of Sector 1, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08008000) /* Base @ of Sector 2, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x0800C000) /* Base @ of Sector 3, 16 Kbytes */
+#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08010000) /* Base @ of Sector 4, 64 Kbytes */
+#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x08020000) /* Base @ of Sector 5, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x08040000) /* Base @ of Sector 6, 128 Kbytes */
+#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x08060000) /* Base @ of Sector 7, 128 Kbytes */
+
+static uint32_t __SECTOR_ADDRS[] = {ADDR_FLASH_SECTOR_0, ADDR_FLASH_SECTOR_1, ADDR_FLASH_SECTOR_2, ADDR_FLASH_SECTOR_3,
+ ADDR_FLASH_SECTOR_4, ADDR_FLASH_SECTOR_5, ADDR_FLASH_SECTOR_6, ADDR_FLASH_SECTOR_7};
+static uint32_t __SECTORS[] = {FLASH_Sector_0, FLASH_Sector_1, FLASH_Sector_2, FLASH_Sector_3,
+ FLASH_Sector_4, FLASH_Sector_6, FLASH_Sector_6, FLASH_Sector_7};
+class FlashWriter {
+public:
+ FlashWriter(int sector);
+ void open();
+ bool ready();
+ void write(uint32_t index, int x);
+ void write(uint32_t index, unsigned int x);
+ void write(uint32_t index, float x);
+ void close();
+private:
+ uint32_t __base;
+ uint32_t __sector;
+ bool __ready;
+};
+
+int flashReadInt(uint32_t sector, uint32_t index);
+uint32_t flashReadUint(uint32_t sector, uint32_t index);
+float flashReadFloat(uint32_t sector, uint32_t index);
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FlashWriter/stm32f4xx_flash.c Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,1616 @@
+/**
+ ******************************************************************************
+ * @file stm32f4xx_flash.c
+ * @author MCD Application Team
+ * @version V1.7.1
+ * @date 20-May-2016
+ * @brief This file provides firmware functions to manage the following
+ * functionalities of the FLASH peripheral:
+ * + FLASH Interface configuration
+ * + FLASH Memory Programming
+ * + Option Bytes Programming
+ * + Interrupts and flags management
+ *
+ @verbatim
+ ===============================================================================
+ ##### How to use this driver #####
+ ===============================================================================
+ [..]
+ This driver provides functions to configure and program the FLASH memory
+ of all STM32F4xx devices. These functions are split in 4 groups:
+
+ (#) FLASH Interface configuration functions: this group includes the
+ management of the following features:
+ (++) Set the latency
+ (++) Enable/Disable the prefetch buffer
+ (++) Enable/Disable the Instruction cache and the Data cache
+ (++) Reset the Instruction cache and the Data cache
+
+ (#) FLASH Memory Programming functions: this group includes all needed
+ functions to erase and program the main memory:
+ (++) Lock and Unlock the FLASH interface
+ (++) Erase function: Erase sector, erase all sectors
+ (++) Program functions: byte, half word, word and double word
+
+ (#) Option Bytes Programming functions: this group includes all needed
+ functions to manage the Option Bytes:
+ (++) Set/Reset the write protection
+ (++) Set the Read protection Level
+ (++) Set the BOR level
+ (++) Program the user Option Bytes
+ (++) Launch the Option Bytes loader
+
+ (#) Interrupts and flags management functions: this group
+ includes all needed functions to:
+ (++) Enable/Disable the FLASH interrupt sources
+ (++) Get flags status
+ (++) Clear flags
+ (++) Get FLASH operation status
+ (++) Wait for last FLASH operation
+ @endverbatim
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
+ *
+ * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+ * You may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at:
+ *
+ * http://www.st.com/software_license_agreement_liberty_v2
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************
+ */
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx_flash.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+ * @{
+ */
+
+/** @defgroup FLASH
+ * @brief FLASH driver modules
+ * @{
+ */
+
+/* Private typedef -----------------------------------------------------------*/
+/* Private define ------------------------------------------------------------*/
+#define SECTOR_MASK ((uint32_t)0xFFFFFF07)
+
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+/* Private function prototypes -----------------------------------------------*/
+/* Private functions ---------------------------------------------------------*/
+
+/** @defgroup FLASH_Private_Functions
+ * @{
+ */
+
+/** @defgroup FLASH_Group1 FLASH Interface configuration functions
+ * @brief FLASH Interface configuration functions
+ *
+
+@verbatim
+ ===============================================================================
+ ##### FLASH Interface configuration functions #####
+ ===============================================================================
+ [..]
+ This group includes the following functions:
+ (+) void FLASH_SetLatency(uint32_t FLASH_Latency)
+ To correctly read data from FLASH memory, the number of wait states (LATENCY)
+ must be correctly programmed according to the frequency of the CPU clock
+ (HCLK) and the supply voltage of the device.
+ [..]
+ For STM32F405xx/07xx and STM32F415xx/17xx devices
+ +-------------------------------------------------------------------------------------+
+ | Latency | HCLK clock frequency (MHz) |
+ | |---------------------------------------------------------------------|
+ | | voltage range | voltage range | voltage range | voltage range |
+ | | 2.7 V - 3.6 V | 2.4 V - 2.7 V | 2.1 V - 2.4 V | 1.8 V - 2.1 V |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |0WS(1CPU cycle)|0 < HCLK <= 30 |0 < HCLK <= 24 |0 < HCLK <= 22 |0 < HCLK <= 20 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |1WS(2CPU cycle)|30 < HCLK <= 60 |24 < HCLK <= 48 |22 < HCLK <= 44 |20 < HCLK <= 40 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |2WS(3CPU cycle)|60 < HCLK <= 90 |48 < HCLK <= 72 |44 < HCLK <= 66 |40 < HCLK <= 60 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |3WS(4CPU cycle)|90 < HCLK <= 120|72 < HCLK <= 96 |66 < HCLK <= 88 |60 < HCLK <= 80 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |4WS(5CPU cycle)|120< HCLK <= 150|96 < HCLK <= 120|88 < HCLK <= 110 |80 < HCLK <= 100 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |5WS(6CPU cycle)|150< HCLK <= 168|120< HCLK <= 144|110 < HCLK <= 132|100 < HCLK <= 120|
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |6WS(7CPU cycle)| NA |144< HCLK <= 168|132 < HCLK <= 154|120 < HCLK <= 140|
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |7WS(8CPU cycle)| NA | NA |154 < HCLK <= 168|140 < HCLK <= 160|
+ +---------------|----------------|----------------|-----------------|-----------------+
+
+ [..]
+ For STM32F42xxx/43xxx devices
+ +-------------------------------------------------------------------------------------+
+ | Latency | HCLK clock frequency (MHz) |
+ | |---------------------------------------------------------------------|
+ | | voltage range | voltage range | voltage range | voltage range |
+ | | 2.7 V - 3.6 V | 2.4 V - 2.7 V | 2.1 V - 2.4 V | 1.8 V - 2.1 V |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |0WS(1CPU cycle)|0 < HCLK <= 30 |0 < HCLK <= 24 |0 < HCLK <= 22 |0 < HCLK <= 20 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |1WS(2CPU cycle)|30 < HCLK <= 60 |24 < HCLK <= 48 |22 < HCLK <= 44 |20 < HCLK <= 40 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |2WS(3CPU cycle)|60 < HCLK <= 90 |48 < HCLK <= 72 |44 < HCLK <= 66 |40 < HCLK <= 60 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |3WS(4CPU cycle)|90 < HCLK <= 120|72 < HCLK <= 96 |66 < HCLK <= 88 |60 < HCLK <= 80 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |4WS(5CPU cycle)|120< HCLK <= 150|96 < HCLK <= 120|88 < HCLK <= 110 |80 < HCLK <= 100 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |5WS(6CPU cycle)|120< HCLK <= 180|120< HCLK <= 144|110 < HCLK <= 132|100 < HCLK <= 120|
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |6WS(7CPU cycle)| NA |144< HCLK <= 168|132 < HCLK <= 154|120 < HCLK <= 140|
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |7WS(8CPU cycle)| NA |168< HCLK <= 180|154 < HCLK <= 176|140 < HCLK <= 160|
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |8WS(9CPU cycle)| NA | NA |176 < HCLK <= 180|160 < HCLK <= 168|
+ +-------------------------------------------------------------------------------------+
+
+ [..]
+ For STM32F401x devices
+ +-------------------------------------------------------------------------------------+
+ | Latency | HCLK clock frequency (MHz) |
+ | |---------------------------------------------------------------------|
+ | | voltage range | voltage range | voltage range | voltage range |
+ | | 2.7 V - 3.6 V | 2.4 V - 2.7 V | 2.1 V - 2.4 V | 1.8 V - 2.1 V |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |0WS(1CPU cycle)|0 < HCLK <= 30 |0 < HCLK <= 24 |0 < HCLK <= 22 |0 < HCLK <= 20 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |1WS(2CPU cycle)|30 < HCLK <= 60 |24 < HCLK <= 48 |22 < HCLK <= 44 |20 < HCLK <= 40 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |2WS(3CPU cycle)|60 < HCLK <= 84 |48 < HCLK <= 72 |44 < HCLK <= 66 |40 < HCLK <= 60 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |3WS(4CPU cycle)| NA |72 < HCLK <= 84 |66 < HCLK <= 84 |60 < HCLK <= 80 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |4WS(5CPU cycle)| NA | NA | NA |80 < HCLK <= 84 |
+ +-------------------------------------------------------------------------------------+
+
+ [..]
+ For STM32F410xx/STM32F411xE devices
+ +-------------------------------------------------------------------------------------+
+ | Latency | HCLK clock frequency (MHz) |
+ | |---------------------------------------------------------------------|
+ | | voltage range | voltage range | voltage range | voltage range |
+ | | 2.7 V - 3.6 V | 2.4 V - 2.7 V | 2.1 V - 2.4 V | 1.8 V - 2.1 V |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |0WS(1CPU cycle)|0 < HCLK <= 30 |0 < HCLK <= 24 |0 < HCLK <= 18 |0 < HCLK <= 16 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |1WS(2CPU cycle)|30 < HCLK <= 64 |24 < HCLK <= 48 |18 < HCLK <= 36 |16 < HCLK <= 32 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |2WS(3CPU cycle)|64 < HCLK <= 90 |48 < HCLK <= 72 |36 < HCLK <= 54 |32 < HCLK <= 48 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |3WS(4CPU cycle)|90 < HCLK <= 100|72 < HCLK <= 96 |54 < HCLK <= 72 |48 < HCLK <= 64 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |4WS(5CPU cycle)| NA |96 < HCLK <= 100|72 < HCLK <= 90 |64 < HCLK <= 80 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |5WS(6CPU cycle)| NA | NA |90 < HCLK <= 100 |80 < HCLK <= 96 |
+ |---------------|----------------|----------------|-----------------|-----------------|
+ |6WS(7CPU cycle)| NA | NA | NA |96 < HCLK <= 100 |
+ +-------------------------------------------------------------------------------------+
+
+ [..]
+ +-------------------------------------------------------------------------------------------------------------------+
+ | | voltage range | voltage range | voltage range | voltage range | voltage range 2.7 V - 3.6 V |
+ | | 2.7 V - 3.6 V | 2.4 V - 2.7 V | 2.1 V - 2.4 V | 1.8 V - 2.1 V | with External Vpp = 9V |
+ |---------------|----------------|----------------|-----------------|-----------------|-----------------------------|
+ |Max Parallelism| x32 | x16 | x8 | x64 |
+ |---------------|----------------|----------------|-----------------|-----------------|-----------------------------|
+ |PSIZE[1:0] | 10 | 01 | 00 | 11 |
+ +-------------------------------------------------------------------------------------------------------------------+
+
+ -@- On STM32F405xx/407xx and STM32F415xx/417xx devices:
+ (++) when VOS = '0' Scale 2 mode, the maximum value of fHCLK = 144MHz.
+ (++) when VOS = '1' Scale 1 mode, the maximum value of fHCLK = 168MHz.
+ [..]
+ On STM32F42xxx/43xxx devices:
+ (++) when VOS[1:0] = '0x01' Scale 3 mode, the maximum value of fHCLK is 120MHz.
+ (++) when VOS[1:0] = '0x10' Scale 2 mode, the maximum value of fHCLK is 144MHz if OverDrive OFF and 168MHz if OverDrive ON.
+ (++) when VOS[1:0] = '0x11' Scale 1 mode, the maximum value of fHCLK is 168MHz if OverDrive OFF and 180MHz if OverDrive ON.
+ [..]
+ On STM32F401x devices:
+ (++) when VOS[1:0] = '0x01' Scale 3 mode, the maximum value of fHCLK is 60MHz.
+ (++) when VOS[1:0] = '0x10' Scale 2 mode, the maximum value of fHCLK is 84MHz.
+ [..]
+ On STM32F410xx/STM32F411xE devices:
+ (++) when VOS[1:0] = '0x01' Scale 3 mode, the maximum value of fHCLK is 64MHz.
+ (++) when VOS[1:0] = '0x10' Scale 2 mode, the maximum value of fHCLK is 84MHz.
+ (++) when VOS[1:0] = '0x11' Scale 1 mode, the maximum value of fHCLK is 100MHz.
+
+ For more details please refer product DataSheet
+ You can use PWR_MainRegulatorModeConfig() function to control VOS bits.
+
+ (+) void FLASH_PrefetchBufferCmd(FunctionalState NewState)
+ (+) void FLASH_InstructionCacheCmd(FunctionalState NewState)
+ (+) void FLASH_DataCacheCmd(FunctionalState NewState)
+ (+) void FLASH_InstructionCacheReset(void)
+ (+) void FLASH_DataCacheReset(void)
+
+ [..]
+ The unlock sequence is not needed for these functions.
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Sets the code latency value.
+ * @param FLASH_Latency: specifies the FLASH Latency value.
+ * This parameter can be one of the following values:
+ * @arg FLASH_Latency_0: FLASH Zero Latency cycle
+ * @arg FLASH_Latency_1: FLASH One Latency cycle
+ * @arg FLASH_Latency_2: FLASH Two Latency cycles
+ * @arg FLASH_Latency_3: FLASH Three Latency cycles
+ * @arg FLASH_Latency_4: FLASH Four Latency cycles
+ * @arg FLASH_Latency_5: FLASH Five Latency cycles
+ * @arg FLASH_Latency_6: FLASH Six Latency cycles
+ * @arg FLASH_Latency_7: FLASH Seven Latency cycles
+ * @arg FLASH_Latency_8: FLASH Eight Latency cycles
+ * @arg FLASH_Latency_9: FLASH Nine Latency cycles
+ * @arg FLASH_Latency_10: FLASH Teen Latency cycles
+ * @arg FLASH_Latency_11: FLASH Eleven Latency cycles
+ * @arg FLASH_Latency_12: FLASH Twelve Latency cycles
+ * @arg FLASH_Latency_13: FLASH Thirteen Latency cycles
+ * @arg FLASH_Latency_14: FLASH Fourteen Latency cycles
+ * @arg FLASH_Latency_15: FLASH Fifteen Latency cycles
+ *
+ * @note For STM32F405xx/407xx, STM32F415xx/417xx, STM32F401xx/411xE and STM32F412xG devices
+ * this parameter can be a value between FLASH_Latency_0 and FLASH_Latency_7.
+ *
+ * @note For STM32F42xxx/43xxx devices this parameter can be a value between
+ * FLASH_Latency_0 and FLASH_Latency_15.
+ *
+ * @retval None
+ */
+void FLASH_SetLatency(uint32_t FLASH_Latency)
+{
+ /* Check the parameters */
+ assert_param(IS_FLASH_LATENCY(FLASH_Latency));
+
+ /* Perform Byte access to FLASH_ACR[8:0] to set the Latency value */
+ *(__IO uint8_t *)ACR_BYTE0_ADDRESS = (uint8_t)FLASH_Latency;
+}
+
+/**
+ * @brief Enables or disables the Prefetch Buffer.
+ * @param NewState: new state of the Prefetch Buffer.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_PrefetchBufferCmd(FunctionalState NewState)
+{
+ /* Check the parameters */
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ /* Enable or disable the Prefetch Buffer */
+ if(NewState != DISABLE)
+ {
+ FLASH->ACR |= FLASH_ACR_PRFTEN;
+ }
+ else
+ {
+ FLASH->ACR &= (~FLASH_ACR_PRFTEN);
+ }
+}
+
+/**
+ * @brief Enables or disables the Instruction Cache feature.
+ * @param NewState: new state of the Instruction Cache.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_InstructionCacheCmd(FunctionalState NewState)
+{
+ /* Check the parameters */
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ if(NewState != DISABLE)
+ {
+ FLASH->ACR |= FLASH_ACR_ICEN;
+ }
+ else
+ {
+ FLASH->ACR &= (~FLASH_ACR_ICEN);
+ }
+}
+
+/**
+ * @brief Enables or disables the Data Cache feature.
+ * @param NewState: new state of the Data Cache.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_DataCacheCmd(FunctionalState NewState)
+{
+ /* Check the parameters */
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ if(NewState != DISABLE)
+ {
+ FLASH->ACR |= FLASH_ACR_DCEN;
+ }
+ else
+ {
+ FLASH->ACR &= (~FLASH_ACR_DCEN);
+ }
+}
+
+/**
+ * @brief Resets the Instruction Cache.
+ * @note This function must be used only when the Instruction Cache is disabled.
+ * @param None
+ * @retval None
+ */
+void FLASH_InstructionCacheReset(void)
+{
+ FLASH->ACR |= FLASH_ACR_ICRST;
+}
+
+/**
+ * @brief Resets the Data Cache.
+ * @note This function must be used only when the Data Cache is disabled.
+ * @param None
+ * @retval None
+ */
+void FLASH_DataCacheReset(void)
+{
+ FLASH->ACR |= FLASH_ACR_DCRST;
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Group2 FLASH Memory Programming functions
+ * @brief FLASH Memory Programming functions
+ *
+@verbatim
+ ===============================================================================
+ ##### FLASH Memory Programming functions #####
+ ===============================================================================
+ [..]
+ This group includes the following functions:
+ (+) void FLASH_Unlock(void)
+ (+) void FLASH_Lock(void)
+ (+) FLASH_Status FLASH_EraseSector(uint32_t FLASH_Sector, uint8_t VoltageRange)
+ (+) FLASH_Status FLASH_EraseAllSectors(uint8_t VoltageRange)
+ (+) FLASH_Status FLASH_ProgramDoubleWord(uint32_t Address, uint64_t Data)
+ (+) FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data)
+ (+) FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data)
+ (+) FLASH_Status FLASH_ProgramByte(uint32_t Address, uint8_t Data)
+ The following functions can be used only for STM32F42xxx/43xxx devices.
+ (+) FLASH_Status FLASH_EraseAllBank1Sectors(uint8_t VoltageRange)
+ (+) FLASH_Status FLASH_EraseAllBank2Sectors(uint8_t VoltageRange)
+ [..]
+ Any operation of erase or program should follow these steps:
+ (#) Call the FLASH_Unlock() function to enable the FLASH control register access
+
+ (#) Call the desired function to erase sector(s) or program data
+
+ (#) Call the FLASH_Lock() function to disable the FLASH control register access
+ (recommended to protect the FLASH memory against possible unwanted operation)
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Unlocks the FLASH control register access
+ * @param None
+ * @retval None
+ */
+void FLASH_Unlock(void)
+{
+ if((FLASH->CR & FLASH_CR_LOCK) != RESET)
+ {
+ /* Authorize the FLASH Registers access */
+ FLASH->KEYR = FLASH_KEY1;
+ FLASH->KEYR = FLASH_KEY2;
+ }
+}
+
+/**
+ * @brief Locks the FLASH control register access
+ * @param None
+ * @retval None
+ */
+void FLASH_Lock(void)
+{
+ /* Set the LOCK Bit to lock the FLASH Registers access */
+ FLASH->CR |= FLASH_CR_LOCK;
+}
+
+/**
+ * @brief Erases a specified FLASH Sector.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param FLASH_Sector: The Sector number to be erased.
+ *
+ * @note For STM32F405xx/407xx and STM32F415xx/417xx devices this parameter can
+ * be a value between FLASH_Sector_0 and FLASH_Sector_11.
+ *
+ * For STM32F42xxx/43xxx devices this parameter can be a value between
+ * FLASH_Sector_0 and FLASH_Sector_23.
+ *
+ * For STM32F401xx devices this parameter can be a value between
+ * FLASH_Sector_0 and FLASH_Sector_5.
+ *
+ * For STM32F411xE and STM32F412xG devices this parameter can be a value between
+ * FLASH_Sector_0 and FLASH_Sector_7.
+ *
+ * For STM32F410xx devices this parameter can be a value between
+ * FLASH_Sector_0 and FLASH_Sector_4.
+ *
+ * @param VoltageRange: The device voltage range which defines the erase parallelism.
+ * This parameter can be one of the following values:
+ * @arg VoltageRange_1: when the device voltage range is 1.8V to 2.1V,
+ * the operation will be done by byte (8-bit)
+ * @arg VoltageRange_2: when the device voltage range is 2.1V to 2.7V,
+ * the operation will be done by half word (16-bit)
+ * @arg VoltageRange_3: when the device voltage range is 2.7V to 3.6V,
+ * the operation will be done by word (32-bit)
+ * @arg VoltageRange_4: when the device voltage range is 2.7V to 3.6V + External Vpp,
+ * the operation will be done by double word (64-bit)
+ *
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_EraseSector(uint32_t FLASH_Sector, uint8_t VoltageRange)
+{
+ uint32_t tmp_psize = 0x0;
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_FLASH_SECTOR(FLASH_Sector));
+ assert_param(IS_VOLTAGERANGE(VoltageRange));
+
+ if(VoltageRange == VoltageRange_1)
+ {
+ tmp_psize = FLASH_PSIZE_BYTE;
+ }
+ else if(VoltageRange == VoltageRange_2)
+ {
+ tmp_psize = FLASH_PSIZE_HALF_WORD;
+ }
+ else if(VoltageRange == VoltageRange_3)
+ {
+ tmp_psize = FLASH_PSIZE_WORD;
+ }
+ else
+ {
+ tmp_psize = FLASH_PSIZE_DOUBLE_WORD;
+ }
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to erase the sector */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= tmp_psize;
+ FLASH->CR &= SECTOR_MASK;
+ FLASH->CR |= FLASH_CR_SER | FLASH_Sector;
+ FLASH->CR |= FLASH_CR_STRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the erase operation is completed, disable the SER Bit */
+ FLASH->CR &= (~FLASH_CR_SER);
+ FLASH->CR &= SECTOR_MASK;
+ }
+ /* Return the Erase Status */
+ return status;
+}
+
+/**
+ * @brief Erases all FLASH Sectors.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param VoltageRange: The device voltage range which defines the erase parallelism.
+ * This parameter can be one of the following values:
+ * @arg VoltageRange_1: when the device voltage range is 1.8V to 2.1V,
+ * the operation will be done by byte (8-bit)
+ * @arg VoltageRange_2: when the device voltage range is 2.1V to 2.7V,
+ * the operation will be done by half word (16-bit)
+ * @arg VoltageRange_3: when the device voltage range is 2.7V to 3.6V,
+ * the operation will be done by word (32-bit)
+ * @arg VoltageRange_4: when the device voltage range is 2.7V to 3.6V + External Vpp,
+ * the operation will be done by double word (64-bit)
+ *
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_EraseAllSectors(uint8_t VoltageRange)
+{
+ uint32_t tmp_psize = 0x0;
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+ assert_param(IS_VOLTAGERANGE(VoltageRange));
+
+ if(VoltageRange == VoltageRange_1)
+ {
+ tmp_psize = FLASH_PSIZE_BYTE;
+ }
+ else if(VoltageRange == VoltageRange_2)
+ {
+ tmp_psize = FLASH_PSIZE_HALF_WORD;
+ }
+ else if(VoltageRange == VoltageRange_3)
+ {
+ tmp_psize = FLASH_PSIZE_WORD;
+ }
+ else
+ {
+ tmp_psize = FLASH_PSIZE_DOUBLE_WORD;
+ }
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to erase all sectors */
+#if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F469_479xx)
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= tmp_psize;
+ FLASH->CR |= (FLASH_CR_MER1 | FLASH_CR_MER2);
+ FLASH->CR |= FLASH_CR_STRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the erase operation is completed, disable the MER Bit */
+ FLASH->CR &= ~(FLASH_CR_MER1 | FLASH_CR_MER2);
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F469_479xx */
+
+#if defined(STM32F40_41xxx) || defined(STM32F401xx) || defined(STM32F410xx) || defined(STM32F411xE) || defined(STM32F412xG) || defined(STM32F446xx)
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= tmp_psize;
+ FLASH->CR |= FLASH_CR_MER;
+ FLASH->CR |= FLASH_CR_STRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the erase operation is completed, disable the MER Bit */
+ FLASH->CR &= (~FLASH_CR_MER);
+#endif /* STM32F40_41xxx || STM32F401xx || STM32F410xx || STM32F411xE || STM32F412xG || STM32F446xx */
+
+ }
+ /* Return the Erase Status */
+ return status;
+}
+
+/**
+ * @brief Erases all FLASH Sectors in Bank 1.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param VoltageRange: The device voltage range which defines the erase parallelism.
+ * This parameter can be one of the following values:
+ * @arg VoltageRange_1: when the device voltage range is 1.8V to 2.1V,
+ * the operation will be done by byte (8-bit)
+ * @arg VoltageRange_2: when the device voltage range is 2.1V to 2.7V,
+ * the operation will be done by half word (16-bit)
+ * @arg VoltageRange_3: when the device voltage range is 2.7V to 3.6V,
+ * the operation will be done by word (32-bit)
+ * @arg VoltageRange_4: when the device voltage range is 2.7V to 3.6V + External Vpp,
+ * the operation will be done by double word (64-bit)
+ *
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_EraseAllBank1Sectors(uint8_t VoltageRange)
+{
+ uint32_t tmp_psize = 0x0;
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+ assert_param(IS_VOLTAGERANGE(VoltageRange));
+
+ if(VoltageRange == VoltageRange_1)
+ {
+ tmp_psize = FLASH_PSIZE_BYTE;
+ }
+ else if(VoltageRange == VoltageRange_2)
+ {
+ tmp_psize = FLASH_PSIZE_HALF_WORD;
+ }
+ else if(VoltageRange == VoltageRange_3)
+ {
+ tmp_psize = FLASH_PSIZE_WORD;
+ }
+ else
+ {
+ tmp_psize = FLASH_PSIZE_DOUBLE_WORD;
+ }
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to erase all sectors */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= tmp_psize;
+ FLASH->CR |= FLASH_CR_MER1;
+ FLASH->CR |= FLASH_CR_STRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the erase operation is completed, disable the MER Bit */
+ FLASH->CR &= (~FLASH_CR_MER1);
+
+ }
+ /* Return the Erase Status */
+ return status;
+}
+
+
+/**
+ * @brief Erases all FLASH Sectors in Bank 2.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param VoltageRange: The device voltage range which defines the erase parallelism.
+ * This parameter can be one of the following values:
+ * @arg VoltageRange_1: when the device voltage range is 1.8V to 2.1V,
+ * the operation will be done by byte (8-bit)
+ * @arg VoltageRange_2: when the device voltage range is 2.1V to 2.7V,
+ * the operation will be done by half word (16-bit)
+ * @arg VoltageRange_3: when the device voltage range is 2.7V to 3.6V,
+ * the operation will be done by word (32-bit)
+ * @arg VoltageRange_4: when the device voltage range is 2.7V to 3.6V + External Vpp,
+ * the operation will be done by double word (64-bit)
+ *
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_EraseAllBank2Sectors(uint8_t VoltageRange)
+{
+ uint32_t tmp_psize = 0x0;
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+ assert_param(IS_VOLTAGERANGE(VoltageRange));
+
+ if(VoltageRange == VoltageRange_1)
+ {
+ tmp_psize = FLASH_PSIZE_BYTE;
+ }
+ else if(VoltageRange == VoltageRange_2)
+ {
+ tmp_psize = FLASH_PSIZE_HALF_WORD;
+ }
+ else if(VoltageRange == VoltageRange_3)
+ {
+ tmp_psize = FLASH_PSIZE_WORD;
+ }
+ else
+ {
+ tmp_psize = FLASH_PSIZE_DOUBLE_WORD;
+ }
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to erase all sectors */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= tmp_psize;
+ FLASH->CR |= FLASH_CR_MER2;
+ FLASH->CR |= FLASH_CR_STRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the erase operation is completed, disable the MER Bit */
+ FLASH->CR &= (~FLASH_CR_MER2);
+
+ }
+ /* Return the Erase Status */
+ return status;
+}
+
+/**
+ * @brief Programs a double word (64-bit) at a specified address.
+ * @note This function must be used when the device voltage range is from
+ * 2.7V to 3.6V and an External Vpp is present.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param Address: specifies the address to be programmed.
+ * @param Data: specifies the data to be programmed.
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_ProgramDoubleWord(uint32_t Address, uint64_t Data)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_FLASH_ADDRESS(Address));
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to program the new data */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= FLASH_PSIZE_DOUBLE_WORD;
+ FLASH->CR |= FLASH_CR_PG;
+
+ *(__IO uint64_t*)Address = Data;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the program operation is completed, disable the PG Bit */
+ FLASH->CR &= (~FLASH_CR_PG);
+ }
+ /* Return the Program Status */
+ return status;
+}
+
+/**
+ * @brief Programs a word (32-bit) at a specified address.
+ *
+ * @note This function must be used when the device voltage range is from 2.7V to 3.6V.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param Address: specifies the address to be programmed.
+ * This parameter can be any address in Program memory zone or in OTP zone.
+ * @param Data: specifies the data to be programmed.
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_FLASH_ADDRESS(Address));
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to program the new data */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= FLASH_PSIZE_WORD;
+ FLASH->CR |= FLASH_CR_PG;
+
+ *(__IO uint32_t*)Address = Data;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the program operation is completed, disable the PG Bit */
+ FLASH->CR &= (~FLASH_CR_PG);
+ }
+ /* Return the Program Status */
+ return status;
+}
+
+/**
+ * @brief Programs a half word (16-bit) at a specified address.
+ * @note This function must be used when the device voltage range is from 2.1V to 3.6V.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param Address: specifies the address to be programmed.
+ * This parameter can be any address in Program memory zone or in OTP zone.
+ * @param Data: specifies the data to be programmed.
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_FLASH_ADDRESS(Address));
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to program the new data */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= FLASH_PSIZE_HALF_WORD;
+ FLASH->CR |= FLASH_CR_PG;
+
+ *(__IO uint16_t*)Address = Data;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the program operation is completed, disable the PG Bit */
+ FLASH->CR &= (~FLASH_CR_PG);
+ }
+ /* Return the Program Status */
+ return status;
+}
+
+/**
+ * @brief Programs a byte (8-bit) at a specified address.
+ * @note This function can be used within all the device supply voltage ranges.
+ *
+ * @note If an erase and a program operations are requested simultaneously,
+ * the erase operation is performed before the program one.
+ *
+ * @param Address: specifies the address to be programmed.
+ * This parameter can be any address in Program memory zone or in OTP zone.
+ * @param Data: specifies the data to be programmed.
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_ProgramByte(uint32_t Address, uint8_t Data)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_FLASH_ADDRESS(Address));
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ /* if the previous operation is completed, proceed to program the new data */
+ FLASH->CR &= CR_PSIZE_MASK;
+ FLASH->CR |= FLASH_PSIZE_BYTE;
+ FLASH->CR |= FLASH_CR_PG;
+
+ *(__IO uint8_t*)Address = Data;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ /* if the program operation is completed, disable the PG Bit */
+ FLASH->CR &= (~FLASH_CR_PG);
+ }
+
+ /* Return the Program Status */
+ return status;
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Group3 Option Bytes Programming functions
+ * @brief Option Bytes Programming functions
+ *
+@verbatim
+ ===============================================================================
+ ##### Option Bytes Programming functions #####
+ ===============================================================================
+ [..]
+ This group includes the following functions:
+ (+) void FLASH_OB_Unlock(void)
+ (+) void FLASH_OB_Lock(void)
+ (+) void FLASH_OB_WRPConfig(uint32_t OB_WRP, FunctionalState NewState)
+ (+) void FLASH_OB_WRP1Config(uint32_t OB_WRP, FunctionalState NewState)
+ (+) void FLASH_OB_PCROPSelectionConfig(uint8_t OB_PCROPSelect)
+ (+) void FLASH_OB_PCROPConfig(uint32_t OB_PCROP, FunctionalState NewState)
+ (+) void FLASH_OB_PCROP1Config(uint32_t OB_PCROP, FunctionalState NewState)
+ (+) void FLASH_OB_RDPConfig(uint8_t OB_RDP)
+ (+) void FLASH_OB_UserConfig(uint8_t OB_IWDG, uint8_t OB_STOP, uint8_t OB_STDBY)
+ (+) void FLASH_OB_BORConfig(uint8_t OB_BOR)
+ (+) FLASH_Status FLASH_ProgramOTP(uint32_t Address, uint32_t Data)
+ (+) FLASH_Status FLASH_OB_Launch(void)
+ (+) uint32_t FLASH_OB_GetUser(void)
+ (+) uint8_t FLASH_OB_GetWRP(void)
+ (+) uint8_t FLASH_OB_GetWRP1(void)
+ (+) uint8_t FLASH_OB_GetPCROP(void)
+ (+) uint8_t FLASH_OB_GetPCROP1(void)
+ (+) uint8_t FLASH_OB_GetRDP(void)
+ (+) uint8_t FLASH_OB_GetBOR(void)
+ [..]
+ The following function can be used only for STM32F42xxx/43xxx devices.
+ (+) void FLASH_OB_BootConfig(uint8_t OB_BOOT)
+ [..]
+ Any operation of erase or program should follow these steps:
+ (#) Call the FLASH_OB_Unlock() function to enable the FLASH option control
+ register access
+
+ (#) Call one or several functions to program the desired Option Bytes:
+ (++) void FLASH_OB_WRPConfig(uint32_t OB_WRP, FunctionalState NewState)
+ => to Enable/Disable the desired sector write protection
+ (++) void FLASH_OB_RDPConfig(uint8_t OB_RDP) => to set the desired read
+ Protection Level
+ (++) void FLASH_OB_UserConfig(uint8_t OB_IWDG, uint8_t OB_STOP, uint8_t OB_STDBY)
+ => to configure the user Option Bytes.
+ (++) void FLASH_OB_BORConfig(uint8_t OB_BOR) => to set the BOR Level
+
+ (#) Once all needed Option Bytes to be programmed are correctly written,
+ call the FLASH_OB_Launch() function to launch the Option Bytes
+ programming process.
+
+ -@- When changing the IWDG mode from HW to SW or from SW to HW, a system
+ reset is needed to make the change effective.
+
+ (#) Call the FLASH_OB_Lock() function to disable the FLASH option control
+ register access (recommended to protect the Option Bytes against
+ possible unwanted operations)
+
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Unlocks the FLASH Option Control Registers access.
+ * @param None
+ * @retval None
+ */
+void FLASH_OB_Unlock(void)
+{
+ if((FLASH->OPTCR & FLASH_OPTCR_OPTLOCK) != RESET)
+ {
+ /* Authorizes the Option Byte register programming */
+ FLASH->OPTKEYR = FLASH_OPT_KEY1;
+ FLASH->OPTKEYR = FLASH_OPT_KEY2;
+ }
+}
+
+/**
+ * @brief Locks the FLASH Option Control Registers access.
+ * @param None
+ * @retval None
+ */
+void FLASH_OB_Lock(void)
+{
+ /* Set the OPTLOCK Bit to lock the FLASH Option Byte Registers access */
+ FLASH->OPTCR |= FLASH_OPTCR_OPTLOCK;
+}
+
+/**
+ * @brief Enables or disables the write protection of the desired sectors, for the first
+ * 1 Mb of the Flash
+ *
+ * @note When the memory read protection level is selected (RDP level = 1),
+ * it is not possible to program or erase the flash sector i if CortexM4
+ * debug features are connected or boot code is executed in RAM, even if nWRPi = 1
+ * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1).
+ *
+ * @param OB_WRP: specifies the sector(s) to be write protected or unprotected.
+ * This parameter can be one of the following values:
+ * @arg OB_WRP: A value between OB_WRP_Sector0 and OB_WRP_Sector11
+ * @arg OB_WRP_Sector_All
+ * @param Newstate: new state of the Write Protection.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_OB_WRPConfig(uint32_t OB_WRP, FunctionalState NewState)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_WRP(OB_WRP));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ if(NewState != DISABLE)
+ {
+ *(__IO uint16_t*)OPTCR_BYTE2_ADDRESS &= (~OB_WRP);
+ }
+ else
+ {
+ *(__IO uint16_t*)OPTCR_BYTE2_ADDRESS |= (uint16_t)OB_WRP;
+ }
+ }
+}
+
+/**
+ * @brief Enables or disables the write protection of the desired sectors, for the second
+ * 1 Mb of the Flash
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @note When the memory read out protection is selected (RDP level = 1),
+ * it is not possible to program or erase the flash sector i if CortexM4
+ * debug features are connected or boot code is executed in RAM, even if nWRPi = 1
+ * @note Active value of nWRPi bits is inverted when PCROP mode is active (SPRMOD =1).
+ *
+ * @param OB_WRP: specifies the sector(s) to be write protected or unprotected.
+ * This parameter can be one of the following values:
+ * @arg OB_WRP: A value between OB_WRP_Sector12 and OB_WRP_Sector23
+ * @arg OB_WRP_Sector_All
+ * @param Newstate: new state of the Write Protection.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_OB_WRP1Config(uint32_t OB_WRP, FunctionalState NewState)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_WRP(OB_WRP));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ if(NewState != DISABLE)
+ {
+ *(__IO uint16_t*)OPTCR1_BYTE2_ADDRESS &= (~OB_WRP);
+ }
+ else
+ {
+ *(__IO uint16_t*)OPTCR1_BYTE2_ADDRESS |= (uint16_t)OB_WRP;
+ }
+ }
+}
+
+/**
+ * @brief Select the Protection Mode (SPRMOD).
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx and STM32F401xx/411xE devices.
+ *
+ * @note After PCROP activation, Option Byte modification is not possible.
+ * Exception made for the global Read Out Protection modification level (level1 to level0)
+ * @note Once SPRMOD bit is active unprotection of a protected sector is not possible
+ *
+ * @note Read a protected sector will set RDERR Flag and write a protected sector will set WRPERR Flag
+ *
+ * @note Some Precautions should be taken when activating the PCROP feature :
+ * The active value of nWRPi bits is inverted when PCROP mode is active, this means if SPRMOD = 1
+ * and WRPi = 1 (default value), then the user sector i is read/write protected.
+ * In order to avoid activation of PCROP Mode for undesired sectors, please follow the
+ * below safety sequence :
+ * - Disable PCROP for all Sectors using FLASH_OB_PCROPConfig(OB_PCROP_Sector_All, DISABLE) function
+ * for Bank1 or FLASH_OB_PCROP1Config(OB_PCROP_Sector_All, DISABLE) function for Bank2
+ * - Enable PCROP for the desired Sector i using FLASH_OB_PCROPConfig(Sector i, ENABLE) function
+ * - Activate the PCROP Mode FLASH_OB_PCROPSelectionConfig() function.
+ *
+ * @param OB_PCROP: Select the Protection Mode of nWPRi bits
+ * This parameter can be one of the following values:
+ * @arg OB_PcROP_Disable: nWRPi control the write protection of respective user sectors.
+ * @arg OB_PcROP_Enable: nWRPi control the read&write protection (PCROP) of respective user sectors.
+ * @retval None
+ */
+void FLASH_OB_PCROPSelectionConfig(uint8_t OB_PcROP)
+{
+ uint8_t optiontmp = 0xFF;
+
+ /* Check the parameters */
+ assert_param(IS_OB_PCROP_SELECT(OB_PcROP));
+
+ /* Mask SPRMOD bit */
+ optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE3_ADDRESS) & (uint8_t)0x7F);
+ /* Update Option Byte */
+ *(__IO uint8_t *)OPTCR_BYTE3_ADDRESS = (uint8_t)(OB_PcROP | optiontmp);
+
+}
+
+/**
+ * @brief Enables or disables the read/write protection (PCROP) of the desired
+ * sectors, for the first 1 MB of the Flash.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx , STM32F401xx/411xE
+ * and STM32F412xG devices.
+ *
+ * @param OB_PCROP: specifies the sector(s) to be read/write protected or unprotected.
+ * This parameter can be one of the following values:
+ * @arg OB_PCROP: A value between OB_PCROP_Sector0 and OB_PCROP_Sector11 for
+ * STM32F42xxx/43xxx devices and between OB_PCROP_Sector0 and
+ * OB_PCROP_Sector5 for STM32F401xx/411xE devices.
+ * @arg OB_PCROP_Sector_All
+ * @param Newstate: new state of the Write Protection.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_OB_PCROPConfig(uint32_t OB_PCROP, FunctionalState NewState)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_PCROP(OB_PCROP));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ if(NewState != DISABLE)
+ {
+ *(__IO uint16_t*)OPTCR_BYTE2_ADDRESS |= (uint16_t)OB_PCROP;
+ }
+ else
+ {
+ *(__IO uint16_t*)OPTCR_BYTE2_ADDRESS &= (~OB_PCROP);
+ }
+ }
+}
+
+/**
+ * @brief Enables or disables the read/write protection (PCROP) of the desired
+ * sectors
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @param OB_PCROP: specifies the sector(s) to be read/write protected or unprotected.
+ * This parameter can be one of the following values:
+ * @arg OB_PCROP: A value between OB_PCROP_Sector12 and OB_PCROP_Sector23
+ * @arg OB_PCROP_Sector_All
+ * @param Newstate: new state of the Write Protection.
+ * This parameter can be: ENABLE or DISABLE.
+ * @retval None
+ */
+void FLASH_OB_PCROP1Config(uint32_t OB_PCROP, FunctionalState NewState)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_PCROP(OB_PCROP));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ if(NewState != DISABLE)
+ {
+ *(__IO uint16_t*)OPTCR1_BYTE2_ADDRESS |= (uint16_t)OB_PCROP;
+ }
+ else
+ {
+ *(__IO uint16_t*)OPTCR1_BYTE2_ADDRESS &= (~OB_PCROP);
+ }
+ }
+}
+
+
+/**
+ * @brief Sets the read protection level.
+ * @param OB_RDP: specifies the read protection level.
+ * This parameter can be one of the following values:
+ * @arg OB_RDP_Level_0: No protection
+ * @arg OB_RDP_Level_1: Read protection of the memory
+ * @arg OB_RDP_Level_2: Full chip protection
+ *
+ * /!\ Warning /!\ When enabling OB_RDP level 2 it's no more possible to go back to level 1 or 0
+ *
+ * @retval None
+ */
+void FLASH_OB_RDPConfig(uint8_t OB_RDP)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_RDP(OB_RDP));
+
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+ *(__IO uint8_t*)OPTCR_BYTE1_ADDRESS = OB_RDP;
+
+ }
+}
+
+/**
+ * @brief Programs the FLASH User Option Byte: IWDG_SW / RST_STOP / RST_STDBY.
+ * @param OB_IWDG: Selects the IWDG mode
+ * This parameter can be one of the following values:
+ * @arg OB_IWDG_SW: Software IWDG selected
+ * @arg OB_IWDG_HW: Hardware IWDG selected
+ * @param OB_STOP: Reset event when entering STOP mode.
+ * This parameter can be one of the following values:
+ * @arg OB_STOP_NoRST: No reset generated when entering in STOP
+ * @arg OB_STOP_RST: Reset generated when entering in STOP
+ * @param OB_STDBY: Reset event when entering Standby mode.
+ * This parameter can be one of the following values:
+ * @arg OB_STDBY_NoRST: No reset generated when entering in STANDBY
+ * @arg OB_STDBY_RST: Reset generated when entering in STANDBY
+ * @retval None
+ */
+void FLASH_OB_UserConfig(uint8_t OB_IWDG, uint8_t OB_STOP, uint8_t OB_STDBY)
+{
+ uint8_t optiontmp = 0xFF;
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check the parameters */
+ assert_param(IS_OB_IWDG_SOURCE(OB_IWDG));
+ assert_param(IS_OB_STOP_SOURCE(OB_STOP));
+ assert_param(IS_OB_STDBY_SOURCE(OB_STDBY));
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ if(status == FLASH_COMPLETE2)
+ {
+#if defined(STM32F427_437xx) || defined(STM32F429_439xx) || defined(STM32F469_479xx)
+ /* Mask OPTLOCK, OPTSTRT, BOR_LEV and BFB2 bits */
+ optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE0_ADDRESS) & (uint8_t)0x1F);
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F469_479xx */
+
+#if defined(STM32F40_41xxx) || defined(STM32F401xx) || defined(STM32F410xx) || defined(STM32F411xE) || defined(STM32F446xx)
+ /* Mask OPTLOCK, OPTSTRT and BOR_LEV bits */
+ optiontmp = (uint8_t)((*(__IO uint8_t *)OPTCR_BYTE0_ADDRESS) & (uint8_t)0x0F);
+#endif /* STM32F40_41xxx || STM32F401xx || STM32F410xx || STM32F411xE || STM32F446xx */
+
+ /* Update User Option Byte */
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS = OB_IWDG | (uint8_t)(OB_STDBY | (uint8_t)(OB_STOP | ((uint8_t)optiontmp)));
+ }
+}
+
+/**
+ * @brief Configure the Dual Bank Boot.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @param OB_BOOT: specifies the Dual Bank Boot Option byte.
+ * This parameter can be one of the following values:
+ * @arg OB_Dual_BootEnabled: Dual Bank Boot Enable
+ * @arg OB_Dual_BootDisabled: Dual Bank Boot Disabled
+ * @retval None
+ */
+void FLASH_OB_BootConfig(uint8_t OB_BOOT)
+{
+ /* Check the parameters */
+ assert_param(IS_OB_BOOT(OB_BOOT));
+
+ /* Set Dual Bank Boot */
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS &= (~FLASH_OPTCR_BFB2);
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= OB_BOOT;
+
+}
+
+/**
+ * @brief Sets the BOR Level.
+ * @param OB_BOR: specifies the Option Bytes BOR Reset Level.
+ * This parameter can be one of the following values:
+ * @arg OB_BOR_LEVEL3: Supply voltage ranges from 2.7 to 3.6 V
+ * @arg OB_BOR_LEVEL2: Supply voltage ranges from 2.4 to 2.7 V
+ * @arg OB_BOR_LEVEL1: Supply voltage ranges from 2.1 to 2.4 V
+ * @arg OB_BOR_OFF: Supply voltage ranges from 1.62 to 2.1 V
+ * @retval None
+ */
+void FLASH_OB_BORConfig(uint8_t OB_BOR)
+{
+ /* Check the parameters */
+ assert_param(IS_OB_BOR(OB_BOR));
+
+ /* Set the BOR Level */
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS &= (~FLASH_OPTCR_BOR_LEV);
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= OB_BOR;
+
+}
+
+/**
+ * @brief Launch the option byte loading.
+ * @param None
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_OB_Launch(void)
+{
+ FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Set the OPTSTRT bit in OPTCR register */
+ *(__IO uint8_t *)OPTCR_BYTE0_ADDRESS |= FLASH_OPTCR_OPTSTRT;
+
+ /* Wait for last operation to be completed */
+ status = FLASH_WaitForLastOperation2();
+
+ return status;
+}
+
+/**
+ * @brief Returns the FLASH User Option Bytes values.
+ * @param None
+ * @retval The FLASH User Option Bytes values: IWDG_SW(Bit0), RST_STOP(Bit1)
+ * and RST_STDBY(Bit2).
+ */
+uint8_t FLASH_OB_GetUser(void)
+{
+ /* Return the User Option Byte */
+ return (uint8_t)(FLASH->OPTCR >> 5);
+}
+
+/**
+ * @brief Returns the FLASH Write Protection Option Bytes value.
+ * @param None
+ * @retval The FLASH Write Protection Option Bytes value
+ */
+uint16_t FLASH_OB_GetWRP(void)
+{
+ /* Return the FLASH write protection Register value */
+ return (*(__IO uint16_t *)(OPTCR_BYTE2_ADDRESS));
+}
+
+/**
+ * @brief Returns the FLASH Write Protection Option Bytes value.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @param None
+ * @retval The FLASH Write Protection Option Bytes value
+ */
+uint16_t FLASH_OB_GetWRP1(void)
+{
+ /* Return the FLASH write protection Register value */
+ return (*(__IO uint16_t *)(OPTCR1_BYTE2_ADDRESS));
+}
+
+/**
+ * @brief Returns the FLASH PC Read/Write Protection Option Bytes value.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices and STM32F401xx/411xE devices.
+ *
+ * @param None
+ * @retval The FLASH PC Read/Write Protection Option Bytes value
+ */
+uint16_t FLASH_OB_GetPCROP(void)
+{
+ /* Return the FLASH PC Read/write protection Register value */
+ return (*(__IO uint16_t *)(OPTCR_BYTE2_ADDRESS));
+}
+
+/**
+ * @brief Returns the FLASH PC Read/Write Protection Option Bytes value.
+ *
+ * @note This function can be used only for STM32F42xxx/43xxx devices.
+ *
+ * @param None
+ * @retval The FLASH PC Read/Write Protection Option Bytes value
+ */
+uint16_t FLASH_OB_GetPCROP1(void)
+{
+ /* Return the FLASH write protection Register value */
+ return (*(__IO uint16_t *)(OPTCR1_BYTE2_ADDRESS));
+}
+
+/**
+ * @brief Returns the FLASH Read Protection level.
+ * @param None
+ * @retval FLASH ReadOut Protection Status:
+ * - SET, when OB_RDP_Level_1 or OB_RDP_Level_2 is set
+ * - RESET, when OB_RDP_Level_0 is set
+ */
+FlagStatus FLASH_OB_GetRDP(void)
+{
+ FlagStatus readstatus = RESET;
+
+ if ((*(__IO uint8_t*)(OPTCR_BYTE1_ADDRESS) != (uint8_t)OB_RDP_Level_0))
+ {
+ readstatus = SET;
+ }
+ else
+ {
+ readstatus = RESET;
+ }
+ return readstatus;
+}
+
+/**
+ * @brief Returns the FLASH BOR level.
+ * @param None
+ * @retval The FLASH BOR level:
+ * - OB_BOR_LEVEL3: Supply voltage ranges from 2.7 to 3.6 V
+ * - OB_BOR_LEVEL2: Supply voltage ranges from 2.4 to 2.7 V
+ * - OB_BOR_LEVEL1: Supply voltage ranges from 2.1 to 2.4 V
+ * - OB_BOR_OFF : Supply voltage ranges from 1.62 to 2.1 V
+ */
+uint8_t FLASH_OB_GetBOR(void)
+{
+ /* Return the FLASH BOR level */
+ return (uint8_t)(*(__IO uint8_t *)(OPTCR_BYTE0_ADDRESS) & (uint8_t)0x0C);
+}
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Group4 Interrupts and flags management functions
+ * @brief Interrupts and flags management functions
+ *
+@verbatim
+ ===============================================================================
+ ##### Interrupts and flags management functions #####
+ ===============================================================================
+@endverbatim
+ * @{
+ */
+
+/**
+ * @brief Enables or disables the specified FLASH interrupts.
+ * @param FLASH_IT: specifies the FLASH interrupt sources to be enabled or disabled.
+ * This parameter can be any combination of the following values:
+ * @arg FLASH_IT_ERR: FLASH Error Interrupt
+ * @arg FLASH_IT_EOP: FLASH end of operation Interrupt
+ * @retval None
+ */
+void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState)
+{
+ /* Check the parameters */
+ assert_param(IS_FLASH_IT(FLASH_IT));
+ assert_param(IS_FUNCTIONAL_STATE(NewState));
+
+ if(NewState != DISABLE)
+ {
+ /* Enable the interrupt sources */
+ FLASH->CR |= FLASH_IT;
+ }
+ else
+ {
+ /* Disable the interrupt sources */
+ FLASH->CR &= ~(uint32_t)FLASH_IT;
+ }
+}
+
+/**
+ * @brief Checks whether the specified FLASH flag is set or not.
+ * @param FLASH_FLAG: specifies the FLASH flag to check.
+ * This parameter can be one of the following values:
+ * @arg FLASH_FLAG_EOP: FLASH End of Operation flag
+ * @arg FLASH_FLAG_OPERR: FLASH operation Error flag
+ * @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag
+ * @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag
+ * @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag
+ * @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag
+ * @arg FLASH_FLAG_RDERR: FLASH (PCROP) Read Protection error flag (STM32F42xx/43xxx and STM32F401xx/411xE devices)
+ * @arg FLASH_FLAG_BSY: FLASH Busy flag
+ * @retval The new state of FLASH_FLAG (SET or RESET).
+ */
+FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG)
+{
+ FlagStatus bitstatus = RESET;
+ /* Check the parameters */
+ assert_param(IS_FLASH_GET_FLAG(FLASH_FLAG));
+
+ if((FLASH->SR & FLASH_FLAG) != (uint32_t)RESET)
+ {
+ bitstatus = SET;
+ }
+ else
+ {
+ bitstatus = RESET;
+ }
+ /* Return the new state of FLASH_FLAG (SET or RESET) */
+ return bitstatus;
+}
+
+/**
+ * @brief Clears the FLASH's pending flags.
+ * @param FLASH_FLAG: specifies the FLASH flags to clear.
+ * This parameter can be any combination of the following values:
+ * @arg FLASH_FLAG_EOP: FLASH End of Operation flag
+ * @arg FLASH_FLAG_OPERR: FLASH operation Error flag
+ * @arg FLASH_FLAG_WRPERR: FLASH Write protected error flag
+ * @arg FLASH_FLAG_PGAERR: FLASH Programming Alignment error flag
+ * @arg FLASH_FLAG_PGPERR: FLASH Programming Parallelism error flag
+ * @arg FLASH_FLAG_PGSERR: FLASH Programming Sequence error flag
+ * @arg FLASH_FLAG_RDERR: FLASH Read Protection error flag (STM32F42xx/43xxx and STM32F401xx/411xE devices)
+ * @retval None
+ */
+void FLASH_ClearFlag(uint32_t FLASH_FLAG)
+{
+ /* Check the parameters */
+ assert_param(IS_FLASH_CLEAR_FLAG(FLASH_FLAG));
+
+ /* Clear the flags */
+ FLASH->SR = FLASH_FLAG;
+}
+
+/**
+ * @brief Returns the FLASH Status.
+ * @param None
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_RD2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_GetStatus(void)
+{
+ FLASH_Status flashstatus = FLASH_COMPLETE2;
+
+ if((FLASH->SR & FLASH_FLAG_BSY) == FLASH_FLAG_BSY)
+ {
+ flashstatus = FLASH_BUSY2;
+ }
+ else
+ {
+ if((FLASH->SR & FLASH_FLAG_WRPERR) != (uint32_t)0x00)
+ {
+ flashstatus = FLASH_ERROR_WRP2;
+ }
+ else
+ {
+ if((FLASH->SR & FLASH_FLAG_RDERR) != (uint32_t)0x00)
+ {
+ flashstatus = FLASH_ERROR_RD2;
+ }
+ else
+ {
+ if((FLASH->SR & (uint32_t)0xE0) != (uint32_t)0x00)
+ {
+ flashstatus = FLASH_ERROR_PROGRAM2;
+ }
+ else
+ {
+ if((FLASH->SR & FLASH_FLAG_OPERR) != (uint32_t)0x00)
+ {
+ flashstatus = FLASH_ERROR_OPERATION2;
+ }
+ else
+ {
+ flashstatus = FLASH_COMPLETE2;
+ }
+ }
+ }
+ }
+ }
+ /* Return the FLASH Status */
+ return flashstatus;
+}
+
+/**
+ * @brief Waits for a FLASH operation to complete.
+ * @param None
+ * @retval FLASH Status: The returned value can be: FLASH_BUSY2, FLASH_ERROR_PROGRAM2,
+ * FLASH_ERROR_WRP2, FLASH_ERROR_OPERATION2 or FLASH_COMPLETE2.
+ */
+FLASH_Status FLASH_WaitForLastOperation2(void)
+{
+ __IO FLASH_Status status = FLASH_COMPLETE2;
+
+ /* Check for the FLASH Status */
+ status = FLASH_GetStatus();
+
+ /* Wait for the FLASH operation to complete by polling on BUSY flag to be reset.
+ Even if the FLASH operation fails, the BUSY flag will be reset and an error
+ flag will be set */
+ while(status == FLASH_BUSY2)
+ {
+ status = FLASH_GetStatus();
+ }
+ /* Return the operation status */
+ return status;
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/FlashWriter/stm32f4xx_flash.h Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,425 @@
+/**
+ ******************************************************************************
+ * @file stm32f4xx_flash.h
+ * @author MCD Application Team
+ * @version V1.7.1
+ * @date 20-May-2016
+ * @brief This file contains all the functions prototypes for the FLASH
+ * firmware library.
+ ******************************************************************************
+ * @attention
+ *
+ * <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
+ *
+ * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+ * You may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at:
+ *
+ * http://www.st.com/software_license_agreement_liberty_v2
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ ******************************************************************************
+ */
+
+/* Define to prevent recursive inclusion -------------------------------------*/
+#ifndef __STM32F4xx_FLASH_H
+#define __STM32F4xx_FLASH_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+#include "stm32f4xx.h"
+
+/** @addtogroup STM32F4xx_StdPeriph_Driver
+ * @{
+ */
+
+/** @addtogroup FLASH
+ * @{
+ */
+
+/* Exported types ------------------------------------------------------------*/
+/**
+ * @brief FLASH Status
+ */
+typedef enum
+{
+ FLASH_BUSY2 = 1,
+ FLASH_ERROR_RD2,
+ FLASH_ERROR_PGS2,
+ FLASH_ERROR_PGP2,
+ FLASH_ERROR_PGA2,
+ FLASH_ERROR_WRP2,
+ FLASH_ERROR_PROGRAM2,
+ FLASH_ERROR_OPERATION2,
+ FLASH_COMPLETE2
+}FLASH_Status;
+
+/* Exported constants --------------------------------------------------------*/
+
+/** @defgroup FLASH_Exported_Constants
+ * @{
+ */
+
+/** @defgroup Flash_Latency
+ * @{
+ */
+#define FLASH_Latency_0 ((uint8_t)0x0000) /*!< FLASH Zero Latency cycle */
+#define FLASH_Latency_1 ((uint8_t)0x0001) /*!< FLASH One Latency cycle */
+#define FLASH_Latency_2 ((uint8_t)0x0002) /*!< FLASH Two Latency cycles */
+#define FLASH_Latency_3 ((uint8_t)0x0003) /*!< FLASH Three Latency cycles */
+#define FLASH_Latency_4 ((uint8_t)0x0004) /*!< FLASH Four Latency cycles */
+#define FLASH_Latency_5 ((uint8_t)0x0005) /*!< FLASH Five Latency cycles */
+#define FLASH_Latency_6 ((uint8_t)0x0006) /*!< FLASH Six Latency cycles */
+#define FLASH_Latency_7 ((uint8_t)0x0007) /*!< FLASH Seven Latency cycles */
+#define FLASH_Latency_8 ((uint8_t)0x0008) /*!< FLASH Eight Latency cycles */
+#define FLASH_Latency_9 ((uint8_t)0x0009) /*!< FLASH Nine Latency cycles */
+#define FLASH_Latency_10 ((uint8_t)0x000A) /*!< FLASH Ten Latency cycles */
+#define FLASH_Latency_11 ((uint8_t)0x000B) /*!< FLASH Eleven Latency cycles */
+#define FLASH_Latency_12 ((uint8_t)0x000C) /*!< FLASH Twelve Latency cycles */
+#define FLASH_Latency_13 ((uint8_t)0x000D) /*!< FLASH Thirteen Latency cycles */
+#define FLASH_Latency_14 ((uint8_t)0x000E) /*!< FLASH Fourteen Latency cycles */
+#define FLASH_Latency_15 ((uint8_t)0x000F) /*!< FLASH Fifteen Latency cycles */
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Voltage_Range
+ * @{
+ */
+#define VoltageRange_1 ((uint8_t)0x00) /*!< Device operating range: 1.8V to 2.1V */
+#define VoltageRange_2 ((uint8_t)0x01) /*!<Device operating range: 2.1V to 2.7V */
+#define VoltageRange_3 ((uint8_t)0x02) /*!<Device operating range: 2.7V to 3.6V */
+#define VoltageRange_4 ((uint8_t)0x03) /*!<Device operating range: 2.7V to 3.6V + External Vpp */
+
+/*
+#define IS_VOLTAGERANGE(RANGE)(((RANGE) == VoltageRange_1) || \
+ ((RANGE) == VoltageRange_2) || \
+ ((RANGE) == VoltageRange_3) || \
+ ((RANGE) == VoltageRange_4))
+*/
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Sectors
+ * @{
+ */
+#define FLASH_Sector_0 ((uint16_t)0x0000) /*!< Sector Number 0 */
+#define FLASH_Sector_1 ((uint16_t)0x0008) /*!< Sector Number 1 */
+#define FLASH_Sector_2 ((uint16_t)0x0010) /*!< Sector Number 2 */
+#define FLASH_Sector_3 ((uint16_t)0x0018) /*!< Sector Number 3 */
+#define FLASH_Sector_4 ((uint16_t)0x0020) /*!< Sector Number 4 */
+#define FLASH_Sector_5 ((uint16_t)0x0028) /*!< Sector Number 5 */
+#define FLASH_Sector_6 ((uint16_t)0x0030) /*!< Sector Number 6 */
+#define FLASH_Sector_7 ((uint16_t)0x0038) /*!< Sector Number 7 */
+#define FLASH_Sector_8 ((uint16_t)0x0040) /*!< Sector Number 8 */
+#define FLASH_Sector_9 ((uint16_t)0x0048) /*!< Sector Number 9 */
+#define FLASH_Sector_10 ((uint16_t)0x0050) /*!< Sector Number 10 */
+#define FLASH_Sector_11 ((uint16_t)0x0058) /*!< Sector Number 11 */
+#define FLASH_Sector_12 ((uint16_t)0x0080) /*!< Sector Number 12 */
+#define FLASH_Sector_13 ((uint16_t)0x0088) /*!< Sector Number 13 */
+#define FLASH_Sector_14 ((uint16_t)0x0090) /*!< Sector Number 14 */
+#define FLASH_Sector_15 ((uint16_t)0x0098) /*!< Sector Number 15 */
+#define FLASH_Sector_16 ((uint16_t)0x00A0) /*!< Sector Number 16 */
+#define FLASH_Sector_17 ((uint16_t)0x00A8) /*!< Sector Number 17 */
+#define FLASH_Sector_18 ((uint16_t)0x00B0) /*!< Sector Number 18 */
+#define FLASH_Sector_19 ((uint16_t)0x00B8) /*!< Sector Number 19 */
+#define FLASH_Sector_20 ((uint16_t)0x00C0) /*!< Sector Number 20 */
+#define FLASH_Sector_21 ((uint16_t)0x00C8) /*!< Sector Number 21 */
+#define FLASH_Sector_22 ((uint16_t)0x00D0) /*!< Sector Number 22 */
+#define FLASH_Sector_23 ((uint16_t)0x00D8) /*!< Sector Number 23 */
+
+#if defined (STM32F427_437xx) || defined (STM32F429_439xx) || defined (STM32F469_479xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x081FFFFF)) ||\
+ (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F427_437xx || STM32F429_439xx || STM32F469_479xx */
+
+#if defined (STM32F40_41xxx) || defined(STM32F412xG)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x080FFFFF)) ||\
+ (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F40_41xxx || STM32F412xG */
+
+#if defined (STM32F401xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0803FFFF)) ||\
+ (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F401xx */
+
+#if defined (STM32F411xE) || defined (STM32F446xx)
+//#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0807FFFF)) ||\
+// (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F411xE || STM32F446xx */
+
+#if defined (STM32F410xx)
+#define IS_FLASH_ADDRESS(ADDRESS) ((((ADDRESS) >= 0x08000000) && ((ADDRESS) <= 0x0801FFFF)) ||\
+ (((ADDRESS) >= 0x1FFF7800) && ((ADDRESS) <= 0x1FFF7A0F)))
+#endif /* STM32F410xx */
+
+/**
+ * @}
+ */
+
+/** @defgroup Option_Bytes_Write_Protection
+ * @{
+ */
+#define OB_WRP_Sector_0 ((uint32_t)0x00000001) /*!< Write protection of Sector0 */
+#define OB_WRP_Sector_1 ((uint32_t)0x00000002) /*!< Write protection of Sector1 */
+#define OB_WRP_Sector_2 ((uint32_t)0x00000004) /*!< Write protection of Sector2 */
+#define OB_WRP_Sector_3 ((uint32_t)0x00000008) /*!< Write protection of Sector3 */
+#define OB_WRP_Sector_4 ((uint32_t)0x00000010) /*!< Write protection of Sector4 */
+#define OB_WRP_Sector_5 ((uint32_t)0x00000020) /*!< Write protection of Sector5 */
+#define OB_WRP_Sector_6 ((uint32_t)0x00000040) /*!< Write protection of Sector6 */
+#define OB_WRP_Sector_7 ((uint32_t)0x00000080) /*!< Write protection of Sector7 */
+#define OB_WRP_Sector_8 ((uint32_t)0x00000100) /*!< Write protection of Sector8 */
+#define OB_WRP_Sector_9 ((uint32_t)0x00000200) /*!< Write protection of Sector9 */
+#define OB_WRP_Sector_10 ((uint32_t)0x00000400) /*!< Write protection of Sector10 */
+#define OB_WRP_Sector_11 ((uint32_t)0x00000800) /*!< Write protection of Sector11 */
+#define OB_WRP_Sector_12 ((uint32_t)0x00000001) /*!< Write protection of Sector12 */
+#define OB_WRP_Sector_13 ((uint32_t)0x00000002) /*!< Write protection of Sector13 */
+#define OB_WRP_Sector_14 ((uint32_t)0x00000004) /*!< Write protection of Sector14 */
+#define OB_WRP_Sector_15 ((uint32_t)0x00000008) /*!< Write protection of Sector15 */
+#define OB_WRP_Sector_16 ((uint32_t)0x00000010) /*!< Write protection of Sector16 */
+#define OB_WRP_Sector_17 ((uint32_t)0x00000020) /*!< Write protection of Sector17 */
+#define OB_WRP_Sector_18 ((uint32_t)0x00000040) /*!< Write protection of Sector18 */
+#define OB_WRP_Sector_19 ((uint32_t)0x00000080) /*!< Write protection of Sector19 */
+#define OB_WRP_Sector_20 ((uint32_t)0x00000100) /*!< Write protection of Sector20 */
+#define OB_WRP_Sector_21 ((uint32_t)0x00000200) /*!< Write protection of Sector21 */
+#define OB_WRP_Sector_22 ((uint32_t)0x00000400) /*!< Write protection of Sector22 */
+#define OB_WRP_Sector_23 ((uint32_t)0x00000800) /*!< Write protection of Sector23 */
+#define OB_WRP_Sector_All ((uint32_t)0x00000FFF) /*!< Write protection of all Sectors */
+
+#define IS_OB_WRP(SECTOR)((((SECTOR) & (uint32_t)0xFFFFF000) == 0x00000000) && ((SECTOR) != 0x00000000))
+/**
+ * @}
+ */
+
+/** @defgroup Selection_Protection_Mode
+ * @{
+ */
+#define OB_PcROP_Disable ((uint8_t)0x00) /*!< Disabled PcROP, nWPRi bits used for Write Protection on sector i */
+#define OB_PcROP_Enable ((uint8_t)0x80) /*!< Enable PcROP, nWPRi bits used for PCRoP Protection on sector i */
+
+/**
+ * @}
+ */
+
+/** @defgroup Option_Bytes_PC_ReadWrite_Protection
+ * @{
+ */
+#define OB_PCROP_Sector_0 ((uint32_t)0x00000001) /*!< PC Read/Write protection of Sector0 */
+#define OB_PCROP_Sector_1 ((uint32_t)0x00000002) /*!< PC Read/Write protection of Sector1 */
+#define OB_PCROP_Sector_2 ((uint32_t)0x00000004) /*!< PC Read/Write protection of Sector2 */
+#define OB_PCROP_Sector_3 ((uint32_t)0x00000008) /*!< PC Read/Write protection of Sector3 */
+#define OB_PCROP_Sector_4 ((uint32_t)0x00000010) /*!< PC Read/Write protection of Sector4 */
+#define OB_PCROP_Sector_5 ((uint32_t)0x00000020) /*!< PC Read/Write protection of Sector5 */
+#define OB_PCROP_Sector_6 ((uint32_t)0x00000040) /*!< PC Read/Write protection of Sector6 */
+#define OB_PCROP_Sector_7 ((uint32_t)0x00000080) /*!< PC Read/Write protection of Sector7 */
+#define OB_PCROP_Sector_8 ((uint32_t)0x00000100) /*!< PC Read/Write protection of Sector8 */
+#define OB_PCROP_Sector_9 ((uint32_t)0x00000200) /*!< PC Read/Write protection of Sector9 */
+#define OB_PCROP_Sector_10 ((uint32_t)0x00000400) /*!< PC Read/Write protection of Sector10 */
+#define OB_PCROP_Sector_11 ((uint32_t)0x00000800) /*!< PC Read/Write protection of Sector11 */
+#define OB_PCROP_Sector_12 ((uint32_t)0x00000001) /*!< PC Read/Write protection of Sector12 */
+#define OB_PCROP_Sector_13 ((uint32_t)0x00000002) /*!< PC Read/Write protection of Sector13 */
+#define OB_PCROP_Sector_14 ((uint32_t)0x00000004) /*!< PC Read/Write protection of Sector14 */
+#define OB_PCROP_Sector_15 ((uint32_t)0x00000008) /*!< PC Read/Write protection of Sector15 */
+#define OB_PCROP_Sector_16 ((uint32_t)0x00000010) /*!< PC Read/Write protection of Sector16 */
+#define OB_PCROP_Sector_17 ((uint32_t)0x00000020) /*!< PC Read/Write protection of Sector17 */
+#define OB_PCROP_Sector_18 ((uint32_t)0x00000040) /*!< PC Read/Write protection of Sector18 */
+#define OB_PCROP_Sector_19 ((uint32_t)0x00000080) /*!< PC Read/Write protection of Sector19 */
+#define OB_PCROP_Sector_20 ((uint32_t)0x00000100) /*!< PC Read/Write protection of Sector20 */
+#define OB_PCROP_Sector_21 ((uint32_t)0x00000200) /*!< PC Read/Write protection of Sector21 */
+#define OB_PCROP_Sector_22 ((uint32_t)0x00000400) /*!< PC Read/Write protection of Sector22 */
+#define OB_PCROP_Sector_23 ((uint32_t)0x00000800) /*!< PC Read/Write protection of Sector23 */
+#define OB_PCROP_Sector_All ((uint32_t)0x00000FFF) /*!< PC Read/Write protection of all Sectors */
+
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Option_Bytes_Read_Protection
+ * @{
+ */
+#define OB_RDP_Level_0 ((uint8_t)0xAA)
+#define OB_RDP_Level_1 ((uint8_t)0x55)
+/*#define OB_RDP_Level_2 ((uint8_t)0xCC)*/ /*!< Warning: When enabling read protection level 2
+ it's no more possible to go back to level 1 or 0 */
+#define IS_OB_RDP(LEVEL) (((LEVEL) == OB_RDP_Level_0)||\
+ ((LEVEL) == OB_RDP_Level_1))/*||\
+ ((LEVEL) == OB_RDP_Level_2))*/
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Option_Bytes_IWatchdog
+ * @{
+ */
+
+#define IS_OB_IWDG_SOURCE(SOURCE) (((SOURCE) == OB_IWDG_SW) || ((SOURCE) == OB_IWDG_HW))
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Option_Bytes_nRST_STOP
+ * @{
+ */
+#define OB_STOP_NoRST ((uint8_t)0x40) /*!< No reset generated when entering in STOP */
+
+/**
+ * @}
+ */
+
+
+/** @defgroup FLASH_Option_Bytes_nRST_STDBY
+ * @{
+ */
+#define OB_STDBY_NoRST ((uint8_t)0x80) /*!< No reset generated when entering in STANDBY */
+//#define OB_STDBY_RST ((uint8_t)0x00) /*!< Reset generated when entering in STANDBY */
+//#define IS_OB_STDBY_SOURCE(SOURCE) (((SOURCE) == OB_STDBY_NoRST) || ((SOURCE) == OB_STDBY_RST))
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_BOR_Reset_Level
+ * @{
+ */
+
+#define IS_OB_BOR(LEVEL) (((LEVEL) == OB_BOR_LEVEL1) || ((LEVEL) == OB_BOR_LEVEL2) ||\
+ ((LEVEL) == OB_BOR_LEVEL3) || ((LEVEL) == OB_BOR_OFF))
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Dual_Boot
+ * @{
+ */
+#define OB_Dual_BootEnabled ((uint8_t)0x10) /*!< Dual Bank Boot Enable */
+#define OB_Dual_BootDisabled ((uint8_t)0x00) /*!< Dual Bank Boot Disable, always boot on User Flash */
+#define IS_OB_BOOT(BOOT) (((BOOT) == OB_Dual_BootEnabled) || ((BOOT) == OB_Dual_BootDisabled))
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Interrupts
+ * @{
+ */
+
+#define IS_FLASH_IT(IT) ((((IT) & (uint32_t)0xFCFFFFFF) == 0x00000000) && ((IT) != 0x00000000))
+/**
+ * @}
+ */
+
+/** @defgroup FLASH_Flags
+ * @{
+ */
+
+#define IS_FLASH_CLEAR_FLAG(FLAG) ((((FLAG) & (uint32_t)0xFFFFFE0C) == 0x00000000) && ((FLAG) != 0x00000000))
+#define IS_FLASH_GET_FLAG(FLAG) (((FLAG) == FLASH_FLAG_EOP) || ((FLAG) == FLASH_FLAG_OPERR) || \
+ ((FLAG) == FLASH_FLAG_WRPERR) || ((FLAG) == FLASH_FLAG_PGAERR) || \
+ ((FLAG) == FLASH_FLAG_PGPERR) || ((FLAG) == FLASH_FLAG_PGSERR) || \
+ ((FLAG) == FLASH_FLAG_BSY) || ((FLAG) == FLASH_FLAG_RDERR))
+
+/**
+ * @brief ACR register byte 0 (Bits[7:0]) base address
+ */
+//#define ACR_BYTE0_ADDRESS ((uint32_t)0x40023C00)
+/**
+ * @brief OPTCR register byte 0 (Bits[7:0]) base address
+ */
+//#define OPTCR_BYTE0_ADDRESS ((uint32_t)0x40023C14)
+/**
+ * @brief OPTCR register byte 1 (Bits[15:8]) base address
+ */
+//#define OPTCR_BYTE1_ADDRESS ((uint32_t)0x40023C15)
+/**
+ * @brief OPTCR register byte 2 (Bits[23:16]) base address
+ */
+//#define OPTCR_BYTE2_ADDRESS ((uint32_t)0x40023C16)
+/**
+ * @brief OPTCR register byte 3 (Bits[31:24]) base address
+ */
+//#define OPTCR_BYTE3_ADDRESS ((uint32_t)0x40023C17)
+
+/**
+ * @brief OPTCR1 register byte 0 (Bits[7:0]) base address
+ */
+#define OPTCR1_BYTE2_ADDRESS ((uint32_t)0x40023C1A)
+
+/**
+ * @}
+ */
+
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions --------------------------------------------------------*/
+
+/* FLASH Interface configuration functions ************************************/
+void FLASH_SetLatency(uint32_t FLASH_Latency);
+void FLASH_PrefetchBufferCmd(FunctionalState NewState);
+void FLASH_InstructionCacheCmd(FunctionalState NewState);
+void FLASH_DataCacheCmd(FunctionalState NewState);
+void FLASH_InstructionCacheReset(void);
+void FLASH_DataCacheReset(void);
+
+/* FLASH Memory Programming functions *****************************************/
+void FLASH_Unlock(void);
+void FLASH_Lock(void);
+FLASH_Status FLASH_EraseSector(uint32_t FLASH_Sector, uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllSectors(uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllBank1Sectors(uint8_t VoltageRange);
+FLASH_Status FLASH_EraseAllBank2Sectors(uint8_t VoltageRange);
+FLASH_Status FLASH_ProgramDoubleWord(uint32_t Address, uint64_t Data);
+FLASH_Status FLASH_ProgramWord(uint32_t Address, uint32_t Data);
+FLASH_Status FLASH_ProgramHalfWord(uint32_t Address, uint16_t Data);
+FLASH_Status FLASH_ProgramByte(uint32_t Address, uint8_t Data);
+
+/* Option Bytes Programming functions *****************************************/
+void FLASH_OB_Unlock(void);
+void FLASH_OB_Lock(void);
+void FLASH_OB_WRPConfig(uint32_t OB_WRP, FunctionalState NewState);
+void FLASH_OB_WRP1Config(uint32_t OB_WRP, FunctionalState NewState);
+void FLASH_OB_PCROPSelectionConfig(uint8_t OB_PcROP);
+void FLASH_OB_PCROPConfig(uint32_t OB_PCROP, FunctionalState NewState);
+void FLASH_OB_PCROP1Config(uint32_t OB_PCROP, FunctionalState NewState);
+void FLASH_OB_RDPConfig(uint8_t OB_RDP);
+void FLASH_OB_UserConfig(uint8_t OB_IWDG, uint8_t OB_STOP, uint8_t OB_STDBY);
+void FLASH_OB_BORConfig(uint8_t OB_BOR);
+void FLASH_OB_BootConfig(uint8_t OB_BOOT);
+FLASH_Status FLASH_OB_Launch(void);
+uint8_t FLASH_OB_GetUser(void);
+uint16_t FLASH_OB_GetWRP(void);
+uint16_t FLASH_OB_GetWRP1(void);
+uint16_t FLASH_OB_GetPCROP(void);
+uint16_t FLASH_OB_GetPCROP1(void);
+FlagStatus FLASH_OB_GetRDP(void);
+uint8_t FLASH_OB_GetBOR(void);
+
+/* Interrupts and flags management functions **********************************/
+void FLASH_ITConfig(uint32_t FLASH_IT, FunctionalState NewState);
+FlagStatus FLASH_GetFlagStatus(uint32_t FLASH_FLAG);
+void FLASH_ClearFlag(uint32_t FLASH_FLAG);
+FLASH_Status FLASH_GetStatus(void);
+FLASH_Status FLASH_WaitForLastOperation2(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __STM32F4xx_FLASH_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSensor/PositionSensor.cpp Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,297 @@
+
+#include "mbed.h"
+#include "PositionSensor.h"
+//#include "math_ops.h"
+//#include "offset_lut.h"
+//#include <math.h>
+
+PositionSensorAM5147::PositionSensorAM5147(int CPR, float offset, int ppairs){
+ //_CPR = CPR;
+ _CPR = CPR;
+ _ppairs = ppairs;
+ ElecOffset = offset;
+ rotations = 0;
+ spi = new SPI(PC_12, PC_11, PC_10);
+ spi->format(16, 1); // mbed v>127 breaks 16-bit spi, so transaction is broken into 2 8-bit words
+ spi->frequency(25000000);
+
+ cs = new DigitalOut(PA_15);
+ cs->write(1);
+ readAngleCmd = 0xffff;
+ MechOffset = offset;
+ modPosition = 0;
+ oldModPosition = 0;
+ oldVel = 0;
+ raw = 0;
+ }
+
+void PositionSensorAM5147::Sample(float dt){
+ GPIOA->ODR &= ~(1 << 15);
+ raw = spi->write(readAngleCmd);
+ raw &= 0x3FFF;
+ //raw = spi->write(0);
+ //raw = raw>>2; //Extract last 14 bits
+ GPIOA->ODR |= (1 << 15);
+ int off_1 = offset_lut[raw>>7];
+ int off_2 = offset_lut[((raw>>7)+1)%128];
+ int off_interp = off_1 + ((off_2 - off_1)*(raw - ((raw>>7)<<7))>>7); // Interpolate between lookup table entries
+ int angle = raw + off_interp; // Correct for nonlinearity with lookup table from calibration
+ if(angle - old_counts > _CPR/2){
+ rotations -= 1;
+ }
+ else if (angle - old_counts < -_CPR/2){
+ rotations += 1;
+ }
+
+ old_counts = angle;
+ oldModPosition = modPosition;
+ modPosition = ((2.0f*PI * ((float) angle))/ (float)_CPR);
+ position = (2.0f*PI * ((float) angle+(_CPR*rotations)))/ (float)_CPR;
+ MechPosition = position - MechOffset;
+ float elec = ((2.0f*PI/(float)_CPR) * (float) ((_ppairs*angle)%_CPR)) + ElecOffset;
+ if(elec < 0) elec += 2.0f*PI;
+ else if(elec > 2.0f*PI) elec -= 2.0f*PI ;
+ ElecPosition = elec;
+
+ float vel;
+ //if(modPosition<.1f && oldModPosition>6.1f){
+
+ if((modPosition-oldModPosition) < -3.0f){
+ vel = (modPosition - oldModPosition + 2.0f*PI)/dt;
+ }
+ //else if(modPosition>6.1f && oldModPosition<0.1f){
+ else if((modPosition - oldModPosition) > 3.0f){
+ vel = (modPosition - oldModPosition - 2.0f*PI)/dt;
+ }
+ else{
+ vel = (modPosition-oldModPosition)/dt;
+ }
+
+ int n = 40;
+ float sum = vel;
+ for (int i = 1; i < (n); i++){
+ velVec[n - i] = velVec[n-i-1];
+ sum += velVec[n-i];
+ }
+ velVec[0] = vel;
+ MechVelocity = sum/((float)n);
+ ElecVelocity = MechVelocity*_ppairs;
+ ElecVelocityFilt = 0.99f*ElecVelocityFilt + 0.01f*ElecVelocity;
+ }
+
+int PositionSensorAM5147::GetRawPosition(){
+ return raw;
+ }
+
+float PositionSensorAM5147::GetMechPositionFixed(){
+ return MechPosition+MechOffset;
+ }
+
+float PositionSensorAM5147::GetMechPosition(){
+ return MechPosition;
+ }
+
+float PositionSensorAM5147::GetElecPosition(){
+ return ElecPosition;
+ }
+
+float PositionSensorAM5147::GetElecVelocity(){
+ return ElecVelocity;
+ }
+
+float PositionSensorAM5147::GetMechVelocity(){
+ return MechVelocity;
+ }
+
+void PositionSensorAM5147::ZeroPosition(){
+ rotations = 0;
+ MechOffset = 0;
+ Sample(.00025f);
+ MechOffset = GetMechPosition();
+ }
+
+void PositionSensorAM5147::SetElecOffset(float offset){
+ ElecOffset = offset;
+ }
+void PositionSensorAM5147::SetMechOffset(float offset){
+ MechOffset = offset;
+ }
+
+int PositionSensorAM5147::GetCPR(){
+ return _CPR;
+ }
+
+
+void PositionSensorAM5147::WriteLUT(int new_lut[128]){
+ memcpy(offset_lut, new_lut, sizeof(offset_lut));
+ }
+
+
+
+PositionSensorEncoder::PositionSensorEncoder(int CPR, float offset, int ppairs) {
+ _ppairs = ppairs;
+ _CPR = CPR;
+ _offset = offset;
+ MechPosition = 0;
+ out_old = 0;
+ oldVel = 0;
+ raw = 0;
+
+ // Enable clock for GPIOA
+ __GPIOA_CLK_ENABLE(); //equivalent from hal_rcc.h
+
+ GPIOA->MODER |= GPIO_MODER_MODER6_1 | GPIO_MODER_MODER7_1 ; //PA6 & PA7 as Alternate Function /*!< GPIO port mode register, Address offset: 0x00 */
+ GPIOA->OTYPER |= GPIO_OTYPER_OT_6 | GPIO_OTYPER_OT_7 ; //PA6 & PA7 as Inputs /*!< GPIO port output type register, Address offset: 0x04 */
+ GPIOA->OSPEEDR |= GPIO_OSPEEDER_OSPEEDR6 | GPIO_OSPEEDER_OSPEEDR7 ; //Low speed /*!< GPIO port output speed register, Address offset: 0x08 */
+ GPIOA->PUPDR |= GPIO_PUPDR_PUPDR6_1 | GPIO_PUPDR_PUPDR7_1 ; //Pull Down /*!< GPIO port pull-up/pull-down register, Address offset: 0x0C */
+ GPIOA->AFR[0] |= 0x22000000 ; //AF02 for PA6 & PA7 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+ GPIOA->AFR[1] |= 0x00000000 ; //nibbles here refer to gpio8..15 /*!< GPIO alternate function registers, Address offset: 0x20-0x24 */
+
+ // configure TIM3 as Encoder input
+ // Enable clock for TIM3
+ __TIM3_CLK_ENABLE();
+
+ TIM3->CR1 = 0x0001; // CEN(Counter ENable)='1' < TIM control register 1
+ TIM3->SMCR = TIM_ENCODERMODE_TI12; // SMS='011' (Encoder mode 3) < TIM slave mode control register
+ TIM3->CCMR1 = 0x1111; // CC1S='01' CC2S='01' < TIM capture/compare mode register 1, maximum digital filtering
+ TIM3->CCMR2 = 0x0000; // < TIM capture/compare mode register 2
+ TIM3->CCER = 0x0011; // CC1P CC2P < TIM capture/compare enable register
+ TIM3->PSC = 0x0000; // Prescaler = (0+1) < TIM prescaler
+ TIM3->ARR = CPR; // IM auto-reload register
+
+ TIM3->CNT = 0x000; //reset the counter before we use it
+
+ // Extra Timer for velocity measurement
+
+ __TIM2_CLK_ENABLE();
+ TIM3->CR2 = 0x030; //MMS = 101
+
+ TIM2->PSC = 0x03;
+ //TIM2->CR2 |= TIM_CR2_TI1S;
+ TIM2->SMCR = 0x24; //TS = 010 for ITR2, SMS = 100 (reset counter at edge)
+ TIM2->CCMR1 = 0x3; // CC1S = 11, IC1 mapped on TRC
+
+ //TIM2->CR2 |= TIM_CR2_TI1S;
+ TIM2->CCER |= TIM_CCER_CC1P;
+ //TIM2->CCER |= TIM_CCER_CC1NP;
+ TIM2->CCER |= TIM_CCER_CC1E;
+
+
+ TIM2->CR1 = 0x01; //CEN, enable timer
+
+ TIM3->CR1 = 0x01; // CEN
+ ZPulse = new InterruptIn(PC_4);
+ ZSense = new DigitalIn(PC_4);
+ //ZPulse = new InterruptIn(PB_0);
+ //ZSense = new DigitalIn(PB_0);
+ ZPulse->enable_irq();
+ ZPulse->rise(this, &PositionSensorEncoder::ZeroEncoderCount);
+ //ZPulse->fall(this, &PositionSensorEncoder::ZeroEncoderCountDown);
+ ZPulse->mode(PullDown);
+ flag = 0;
+
+
+ //ZTest = new DigitalOut(PC_2);
+ //ZTest->write(1);
+ }
+
+void PositionSensorEncoder::Sample(float dt){
+
+ }
+
+
+float PositionSensorEncoder::GetMechPosition() { //returns rotor angle in radians.
+ int raw = TIM3->CNT;
+ float unsigned_mech = (6.28318530718f/(float)_CPR) * (float) ((raw)%_CPR);
+ return (float) unsigned_mech;// + 6.28318530718f* (float) rotations;
+}
+
+float PositionSensorEncoder::GetElecPosition() { //returns rotor electrical angle in radians.
+ int raw = TIM3->CNT;
+ float elec = ((6.28318530718f/(float)_CPR) * (float) ((_ppairs*raw)%_CPR)) - _offset;
+ if(elec < 0) elec += 6.28318530718f;
+ return elec;
+}
+
+
+
+float PositionSensorEncoder::GetMechVelocity(){
+
+ float out = 0;
+ float rawPeriod = TIM2->CCR1; //Clock Ticks
+ int currentTime = TIM2->CNT;
+ if(currentTime > 2000000){rawPeriod = currentTime;}
+ float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f; // +/- 1
+ float meas = dir*180000000.0f*(6.28318530718f/(float)_CPR)/rawPeriod;
+ if(isinf(meas)){ meas = 1;}
+ out = meas;
+ //if(meas == oldVel){
+ // out = .9f*out_old;
+ // }
+
+
+ oldVel = meas;
+ out_old = out;
+ int n = 16;
+ float sum = out;
+ for (int i = 1; i < (n); i++){
+ velVec[n - i] = velVec[n-i-1];
+ sum += velVec[n-i];
+ }
+ velVec[0] = out;
+ return sum/(float)n;
+ }
+
+float PositionSensorEncoder::GetElecVelocity(){
+ return _ppairs*GetMechVelocity();
+ }
+
+void PositionSensorEncoder::ZeroEncoderCount(void){
+ if (ZSense->read() == 1 & flag == 0){
+ if (ZSense->read() == 1){
+ GPIOC->ODR ^= (1 << 4);
+ TIM3->CNT = 0x000;
+ //state = !state;
+ //ZTest->write(state);
+ GPIOC->ODR ^= (1 << 4);
+ //flag = 1;
+ }
+ }
+ }
+
+void PositionSensorEncoder::ZeroPosition(void){
+
+ }
+
+void PositionSensorEncoder::ZeroEncoderCountDown(void){
+ if (ZSense->read() == 0){
+ if (ZSense->read() == 0){
+ GPIOC->ODR ^= (1 << 4);
+ flag = 0;
+ float dir = -2.0f*(float)(((TIM3->CR1)>>4)&1)+1.0f;
+ if(dir != dir){
+ dir = dir;
+ rotations += dir;
+ }
+
+ GPIOC->ODR ^= (1 << 4);
+
+ }
+ }
+ }
+void PositionSensorEncoder::SetElecOffset(float offset){
+
+ }
+
+int PositionSensorEncoder::GetRawPosition(void){
+ return 0;
+ }
+
+int PositionSensorEncoder::GetCPR(){
+ return _CPR;
+ }
+
+
+void PositionSensorEncoder::WriteLUT(int new_lut[128]){
+ memcpy(offset_lut, new_lut, sizeof(offset_lut));
+ }
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PositionSensor/PositionSensor.h Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,71 @@
+#ifndef POSITIONSENSOR_H
+#define POSITIONSENSOR_H
+
+#define PI 3.14159265359f
+class PositionSensor {
+public:
+ virtual void Sample(float dt) = 0;
+ virtual float GetMechPosition() {return 0.0f;}
+ virtual float GetMechPositionFixed() {return 0.0f;}
+ virtual float GetElecPosition() {return 0.0f;}
+ virtual float GetMechVelocity() {return 0.0f;}
+ virtual float GetElecVelocity() {return 0.0f;}
+ virtual void ZeroPosition(void) = 0;
+ virtual int GetRawPosition(void) = 0;
+ virtual void SetElecOffset(float offset) = 0;
+ virtual int GetCPR(void) = 0;
+ virtual void WriteLUT(int new_lut[128]) = 0;
+};
+
+
+class PositionSensorEncoder: public PositionSensor {
+public:
+ PositionSensorEncoder(int CPR, float offset, int ppairs);
+ virtual void Sample(float dt);
+ virtual float GetMechPosition();
+ virtual float GetElecPosition();
+ virtual float GetMechVelocity();
+ virtual float GetElecVelocity();
+ virtual void ZeroPosition(void);
+ virtual void SetElecOffset(float offset);
+ virtual int GetRawPosition(void);
+ virtual int GetCPR(void);
+ virtual void WriteLUT(int new_lut[128]);
+private:
+ InterruptIn *ZPulse;
+ DigitalIn *ZSense;
+ //DigitalOut *ZTest;
+ virtual void ZeroEncoderCount(void);
+ virtual void ZeroEncoderCountDown(void);
+ int _CPR, flag, rotations, _ppairs, raw;
+ //int state;
+ float _offset, MechPosition, MechOffset, dir, test_pos, oldVel, out_old, velVec[40];
+ int offset_lut[128];
+};
+
+class PositionSensorAM5147: public PositionSensor{
+public:
+ PositionSensorAM5147(int CPR, float offset, int ppairs);
+ virtual void Sample(float dt);
+ virtual float GetMechPosition();
+ virtual float GetMechPositionFixed();
+ virtual float GetElecPosition();
+ virtual float GetMechVelocity();
+ virtual float GetElecVelocity();
+ virtual int GetRawPosition();
+ virtual void ZeroPosition();
+ virtual void SetElecOffset(float offset);
+ virtual void SetMechOffset(float offset);
+ virtual int GetCPR(void);
+ virtual void WriteLUT(int new_lut[128]);
+private:
+ float position, ElecPosition, ElecOffset, MechPosition, MechOffset, modPosition, oldModPosition, oldVel, velVec[40], MechVelocity, ElecVelocity, ElecVelocityFilt;
+ int raw, _CPR, rotations, old_counts, _ppairs;
+ SPI *spi;
+ DigitalOut *cs;
+ int readAngleCmd;
+ int offset_lut[128];
+
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PreferenceWriter/PreferenceWriter.h Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,23 @@
+#ifndef __PREFERENCE_WRITER_H
+#define __PREFERENCE_WRITER_H
+
+#include "mbed.h"
+#include "FlashWriter.h"
+
+class PreferenceWriter {
+public:
+ PreferenceWriter(uint32_t sector);
+ void open();
+ bool ready();
+ void write(int x, int index);
+ void write(float x, int index);
+ void flush();
+ void load();
+ void close();
+private:
+ FlashWriter *writer;
+ uint32_t __sector;
+ bool __ready;
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PreferenceWriter/PrefrenceWriter.cpp Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,52 @@
+#include "PreferenceWriter.h"
+#include "FlashWriter.h"
+#include "mbed.h"
+#include "user_config.h"
+PreferenceWriter::PreferenceWriter(uint32_t sector) {
+ writer = new FlashWriter(sector);
+ __sector = sector;
+ __ready = false;
+}
+
+void PreferenceWriter::open() {
+ writer->open();
+ __ready = true;
+}
+
+bool PreferenceWriter::ready() {
+ return __ready;
+}
+
+void PreferenceWriter::write(int x, int index) {
+ __int_reg[index] = x;
+}
+
+void PreferenceWriter::write(float x, int index) {
+ __float_reg[index] = x;
+}
+
+void PreferenceWriter::flush() {
+ int offs;
+ for (offs = 0; offs < 256; offs++) {
+ writer->write(offs, __int_reg[offs]);
+ }
+ for (; offs < 320; offs++) {
+ writer->write(offs, __float_reg[offs - 256]);
+ }
+ __ready = false;
+}
+
+void PreferenceWriter::load() {
+ int offs;
+ for (offs = 0; offs < 256; offs++) {
+ __int_reg[offs] = flashReadInt(__sector, offs);
+ }
+ for(; offs < 320; offs++) {
+ __float_reg[offs - 256] = flashReadFloat(__sector, offs);
+ }
+}
+
+void PreferenceWriter::close() {
+ __ready = false;
+ writer->close();
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/brake/brake.cpp Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,11 @@
+#include "mbed.h"
+#include "struct.h"
+#include "brake.h"
+
+
+void Init_Brake(GPIOStruct *gpio)
+{
+ gpio->brake=new DigitalOut(BRAKE);
+ gpio->indicate=new DigitalIn(INDICATE);
+ }
+
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/brake/brake.h Mon Jan 25 08:36:48 2021 +0000 @@ -0,0 +1,7 @@ +#ifndef BRAKE_H +#define BRAKE_H + +#define BRAKE PC_1 +#define INDICATE PA_11 +void Init_Brake(GPIOStruct *gpio); +#endif \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,115 @@
+#include "mbed.h"
+#include "struct.h"
+#include "PositionSensor.h"
+#include "PreferenceWriter.h"
+#include "brake.h"
+#include "user_config.h"
+PreferenceWriter prefs(6);
+float __float_reg[64]; // Floats stored in flash
+int __int_reg[256];
+GPIOStruct gpio;
+ControllerStruct controller;
+Serial pc(PA_2, PA_3);
+PositionSensorAM5147 spi(16384, 0.0, 0); //14 bits encoder, 21 NPP
+
+int brake_state=0;
+int flag=0;
+Ticker flipper;
+
+void serial_interrupt(void){
+ while(pc.readable()){
+ char c = pc.getc();
+ switch (c){
+ case 'z':
+ spi.SetMechOffset(0);
+ spi.Sample(0.000025);
+ wait_us(20);
+ M_OFFSET = spi.GetMechPosition();
+ if (!prefs.ready()) prefs.open();
+ prefs.flush(); // Write new prefs to flash
+ prefs.close();
+ prefs.load();
+ spi.SetMechOffset(M_OFFSET);
+ printf("\n\r Saved new zero position: %.4f\n\r\n\r", M_OFFSET);
+
+ break;
+ }
+
+ }
+ }
+
+void time1_check()
+{
+ spi.Sample(0.000025);
+ //pc.printf("%.3f\n\r",controller.theta_mech); // sample position sensor
+ controller.theta_elec = spi.GetElecPosition();
+ controller.theta_mech = spi.GetMechPosition();
+ controller.dtheta_mech = spi.GetMechVelocity();
+ controller.dtheta_elec = spi.GetElecVelocity();
+ /*
+ if(gpio.indicate->read()==1)
+ {
+ gpio.brake->write(1);
+ }
+ else{
+ gpio.brake->write(0);
+ }*/
+ if(gpio.indicate->read()==1)
+ {
+ brake_state=1;
+ }
+ else{
+ brake_state=0;
+ }
+ controller.loop_count++;
+ if(controller.loop_count>80000)
+ {
+ controller.loop_count=80000;
+ }
+ if(brake_state=1&&controller.loop_count>=80000)
+ {
+ flag=-flag;
+ if(flag)
+ {
+ gpio.brake->write(1);
+ }
+ if(flag)
+ {
+ gpio.brake->write(0);
+ }
+ }
+ if(brake_state=1&&controller.loop_count<80000)
+ {
+ gpio.brake->write(1);
+ }
+ else
+ {
+ gpio.brake->write(0);
+ }
+
+}
+
+int main()
+{
+ Init_Brake(&gpio);
+ controller.loop_count=0;
+ prefs.load(); // Read flash
+ if(isnan(E_OFFSET)){E_OFFSET = 0.0f;}
+ if(isnan(M_OFFSET)){M_OFFSET = 0.0f;}
+ spi.SetElecOffset(E_OFFSET); // Set position sensor offset
+ spi.SetMechOffset(M_OFFSET);
+ int lut[128] = {0};
+ memcpy(&lut, &ENCODER_LUT, sizeof(lut));
+ spi.WriteLUT(lut); // Set potision sensor nonlinearity lookup table
+ pc.baud(115200); // set serial baud rate
+ wait(.01);
+ wait(.01);
+ pc.attach(&serial_interrupt); // attach serial interrupt
+ flipper.attach_us(&time1_check,25);
+ while(1) {
+ printf("%.3f\n\r",controller.theta_mech);
+ printf("%.3d\n\r",spi.GetRawPosition());
+
+ wait_ms(1000);
+ }
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Jan 25 08:36:48 2021 +0000 @@ -0,0 +1,1 @@ +https://os.mbed.com/users/mbed_official/code/mbed/builds/65be27845400 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/struct.h Mon Jan 25 08:36:48 2021 +0000
@@ -0,0 +1,25 @@
+#ifndef STRUCT_H
+#define STRUCT_H
+
+#include "mbed.h"
+
+
+
+typedef struct{
+ DigitalIn *indicate;//brake chufa tiaojian
+ DigitalOut *brake; //used for brake
+ } GPIOStruct;
+
+
+typedef struct{
+
+ float theta_mech, theta_elec; // Rotor mechanical and electrical angle
+ float dtheta_mech, dtheta_elec, dtheta_elec_filt; // Rotor mechanical and electrical angular velocit
+
+ float theta_joint, theta_joint_raw, theta_joint_raw_pre,theta_joint_raw_fil; //hjb added
+ int loop_count; // Degubbing counter
+ float v_ref, fw_int; // output voltage magnitude, field-weakening integral
+ float cogging[128];
+ float angle,angle1;//shaorui add for test
+ } ControllerStruct;
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/user_config.h Mon Jan 25 08:36:48 2021 +0000 @@ -0,0 +1,14 @@ +// Values stored in flash, which are modifieable by user actions /// + +#ifndef USER_CONFIG_H +#define USER_CONFIG_H + + +#define E_OFFSET __float_reg[0] // Encoder electrical offset +#define M_OFFSET __float_reg[1] // Encoder mechanical offset +#define ENCODER_LUT __int_reg[5] // Encoder offset LUT - 128 elements long + +extern float __float_reg[]; +extern int __int_reg[]; + +#endif