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fix(flash): 优化Flash EEPROM读写逻辑并修复角度保存问题

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移除调试打印语句，改进Flash读写稳定性。
使用类型别名统一数据访问，增强代码可读性。
修正CAN通信中角度保存逻辑，确保正确写入实时角度值。
完善错误处理机制，增加对齐检查和状态反馈。
调整EEPROM起始地址以避免潜在冲突。
This commit is contained in:
cbb
2025-12-17 01:38:48 +08:00
parent 7371f97882
commit 02572df688
4 changed files with 77 additions and 98 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Robot_V2/RTE/Device/GD32C103CB/gd32c10x_fmc.c
-1
View File
@@ -330,7 +330,6 @@ fmc_state_enum fmc_doubleword_program(uint32_t address, uint64_t data)
fmc_state_enum fmc_word_program(uint32_t address, uint32_t data)
{
fmc_state_enum fmc_state = fmc_ready_wait(FMC_TIMEOUT_COUNT);
printf("fmc_status: 0x%x\r\n", fmc_state);
if(FMC_READY == fmc_state){
/* set the PG bit to start program */
Robot_V2/device/Can.cpp
+1 -1
View File
@@ -696,7 +696,7 @@ void CAN_transmiter::communication_check() {
FOC.target_velocity = target_velocity_union.f;
} else if (receive_message.rx_efid == 0x00010301) {
motor_reset();
flashEEP.save_angle(666, false);
flashEEP.save_angle((u16)FOC.rt_angle, false);
} else {
printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
}
Robot_V2/sys/flash.cpp
+67 -90
View File
@@ -9,6 +9,7 @@
FlashEEPROM flashEEP = FlashEEPROM();
extern angle_sensor KTH7823;
extern CAN_transmiter CAN0_transmiter;
constexpr u8 SIZE_U32 = sizeof(uint32_t);
// FlashEEPROM类实现
FlashEEPROM::FlashEEPROM() {
@@ -21,12 +22,8 @@ FlashEEPROM::FlashEEPROM() {
* @retval None
*/
u8 FlashEEPROM::init() {
// 解锁Flash
fmc_unlock();
// 读取保存的参数
u16 angle;
// 尝试从Flash读取参数，如果不存在则使用默认值
if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
angle = 0; // 默认值
@@ -34,9 +31,7 @@ u8 FlashEEPROM::init() {
} else {
std::printf("从Flash读取到角度数: %d\r\n", angle);
}
KTH7823.angle_set((float)angle);
// save_angle(200, false); // 重置保存标志以允许再次保存
return 0;
}
@@ -46,31 +41,26 @@ u8 FlashEEPROM::init() {
* @param data: 指向存储读取数据的指针
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::read(uint16_t virtualAddr,
uint16_t *data) const {
FlashEepromStatus FlashEEPROM::read(u16 virtualAddr, u16 *data) const {
// 检查参数有效性
if (data == nullptr || virtualAddr == 0xFFFF) {
return FLASH_EEPROM_ERROR;
if (data == nullptr || virtualAddr > 0xFFFE) {
return FLASH_EEPROM_INVALID_ADDR;
}
// 从Flash末尾开始向前搜索，找到最新的数据
for (uint32_t address = EEPROM_END_ADDRESS - sizeof(uint32_t);
address >= EEPROM_START_ADDRESS; address -= sizeof(uint32_t)) {
uint32_t data_word = *((uint32_t *)address);
for (u32 address = EEPROM_END_ADDRESS - SIZE_U32;
address >= EEPROM_START_ADDRESS; address -= SIZE_U32) {
u32 data_word = *((u32 *)address);
// 检查是否是有效数据（非擦除状态）
if (data_word != 0xFFFFFFFF) {
uint16_t addr = (uint16_t)(data_word & 0xFFFF);
u16 addr = (u16)(data_word & 0xFFFF);
// 找到匹配的虚拟地址
if (addr == virtualAddr) {
*data = (uint16_t)((data_word >> 16) & 0xFFFF);
*data = (u16)((data_word >> 16) & 0xFFFF);
return FLASH_EEPROM_OK;
}
}
}
// 未找到指定虚拟地址的数据
return FLASH_EEPROM_NOT_FOUND;
}
@@ -81,47 +71,45 @@ FlashEepromStatus FlashEEPROM::read(uint16_t virtualAddr,
* @param data: 要写入的数据
* @retval FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::write(uint16_t virtualAddr, uint16_t data) {
FlashEepromStatus FlashEEPROM::write(u16 virtualAddr, u16 data) {
// 参数检查
if (virtualAddr == 0xFFFF) {
if (virtualAddr > 0xFFFE) {
return FLASH_EEPROM_INVALID_ADDR;
}
// 查找下一个可写入的位置
uint32_t next_address = EEPROM_START_ADDRESS;
u32 next_address = EEPROM_START_ADDRESS;
// 遍历Flash页面寻找下一个可写入位置
for (uint32_t address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += sizeof(uint32_t)) {
for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += SIZE_U32) {
uint32_t data_word = *((uint32_t *)address);
// 如果找到已使用的地址且与要写入的地址相同，检查数据是否需要更新
if ((data_word & 0xFFFF) == virtualAddr) {
uint16_t old_data = (uint16_t)((data_word >> 16) & 0xFFFF);
if (old_data == data) {
// 数据相同，无需更新
return FLASH_EEPROM_OK;
}
}
// 安全读取Flash数据
volatile u32 *flash_ptr = (volatile u32 *)address;
u32 data_word = *flash_ptr;
// 找到空位置
if (data_word == 0xFFFFFFFF) {
next_address = address;
break;
}
// 更新下一个可能的写入位置（如果需要格式化）
next_address = address + sizeof(uint32_t);
next_address = address + SIZE_U32;
}
// 如果有足够空间，直接写入
if (next_address < EEPROM_END_ADDRESS) {
u32 new_data_word = ((u32)data << 16) | (virtualAddr & 0xFFFF);
fmc_state_enum fmc_status =
fmc_word_program(next_address, new_data_word);
u32 data_word = ((u32)data << 16) | (u32)virtualAddr;
// 使用GD32库函数进行安全编程
fmc_unlock();
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
// 确保使用对齐地址
fmc_state_enum fmc_status = fmc_word_program(next_address, data_word);
fmc_lock();
if (fmc_status != FMC_READY) {
return FLASH_EEPROM_WRITE_ERROR;
}
return FLASH_EEPROM_OK;
} else {
// 空间不足，需要格式化页面
@@ -131,8 +119,7 @@ FlashEepromStatus FlashEEPROM::write(uint16_t virtualAddr, uint16_t data) {
}
// 格式化后在页面开头写入数据
uint32_t new_data_word =
((uint32_t)data << 16) | (virtualAddr & 0xFFFF);
u32 new_data_word = ((u32)data << 16) | (virtualAddr & 0xFFFF);
fmc_state_enum fmc_status =
fmc_word_program(EEPROM_START_ADDRESS, new_data_word);
@@ -153,35 +140,34 @@ FlashEepromStatus FlashEEPROM::format() {
fmc_state_enum fmc_status;
// 创建临时缓冲区存储唯一地址的最新数据
uint32_t valid_entries[EEPROM_MAX_SIZE / sizeof(uint32_t)];
uint16_t valid_count = 0;
u32 valid_entries[EEPROM_MAX_SIZE / SIZE_U32];
u16 valid_count = 0;
// 收集有效的数据项（去重，保留最新的）
for (uint32_t address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += sizeof(uint32_t)) {
uint32_t data_word = *((uint32_t *)address);
for (u32 address = EEPROM_START_ADDRESS; address < EEPROM_END_ADDRESS;
address += SIZE_U32) {
u32 data_word = *((u32 *)address);
// 检查是否是有效数据项
if (data_word != 0xFFFFFFFF) {
uint16_t addr = (uint16_t)(data_word & 0xFFFF);
uint16_t value = (uint16_t)((data_word >> 16) & 0xFFFF);
u16 addr = (u16)(data_word & 0xFFFF);
u16 value = (u16)((data_word >> 16) & 0xFFFF);
// 查找是否已经有相同虚拟地址的数据项
uint8_t found = 0;
for (uint16_t i = 0; i < valid_count; i++) {
uint16_t existing_addr = (uint16_t)(valid_entries[i] & 0xFFFF);
for (u16 i = 0; i < valid_count; i++) {
u16 existing_addr = (u16)(valid_entries[i] & 0xFFFF);
if (existing_addr == addr) {
// 更新为最新的数据
valid_entries[i] = ((uint32_t)value << 16) | addr;
valid_entries[i] = ((u32)value << 16) | addr;
found = 1;
break;
}
}
// 如果是新的虚拟地址，添加到有效数据列表
if (!found && valid_count < (EEPROM_MAX_SIZE / sizeof(uint32_t))) {
valid_entries[valid_count] = ((uint32_t)value << 16) | addr;
if (!found && valid_count < (EEPROM_MAX_SIZE / SIZE_U32)) {
valid_entries[valid_count] = ((u32)value << 16) | addr;
valid_count++;
}
}
@@ -194,9 +180,9 @@ FlashEepromStatus FlashEEPROM::format() {
}
// 重新写入有效的数据项
for (uint16_t i = 0; i < valid_count; i++) {
fmc_status = fmc_word_program(
EEPROM_START_ADDRESS + i * sizeof(uint32_t), valid_entries[i]);
for (u16 i = 0; i < valid_count; i++) {
fmc_status = fmc_word_program(EEPROM_START_ADDRESS + i * SIZE_U32,
valid_entries[i]);
if (fmc_status != FMC_READY) {
return FLASH_EEPROM_WRITE_ERROR;
}
@@ -211,7 +197,7 @@ FlashEepromStatus FlashEEPROM::format() {
* @param ki 新的KI值
* @param kd 新的KD值
*/
void FlashEEPROM::update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd) {
void FlashEEPROM::update_pid_parameters(u16 kp, u16 ki, u16 kd) {
write(ADDR_MOTOR_KP, kp);
write(ADDR_MOTOR_KI, ki);
write(ADDR_MOTOR_KD, kd);
@@ -221,7 +207,7 @@ void FlashEEPROM::update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd) {
* @brief 更新系统配置并保存到Flash
* @param config 新的系统配置值
*/
void FlashEEPROM::update_system_config(uint16_t config) {
void FlashEEPROM::update_system_config(u16 config) {
write(ADDR_SYSTEM_CONFIG, config);
}
@@ -230,37 +216,28 @@ void FlashEEPROM::update_system_config(uint16_t config) {
* @param angle 角度数据
* @return FlashEepromStatus: 操作状态
*/
FlashEepromStatus FlashEEPROM::save_angle(float angle,
bool saved) { // 解锁Flash
// 解锁Flash
fmc_unlock();
// 读取保存的参数
u16 angle2;
// 尝试从Flash读取参数，如果不存在则使用默认值
if (read(ADDR_ANGLE_DATA, &angle2) != FLASH_EEPROM_OK) {
angle = 0; // 默认值
std::printf("角度初始化为: %d\r\n", angle2);
} else {
std::printf("从Flash读取到角度数: %d\r\n", angle2);
}
FlashEepromStatus FlashEEPROM::save_angle(u16 angle, bool saved) {
u16 angle_read = 0;
FlashEepromStatus status = FLASH_EEPROM_ERROR;
// 读取保存的参数
if (!angle_saved) {
printf("saved_angle: %u\r\n", (u16)angle);
FlashEepromStatus status = write(ADDR_ANGLE_DATA, (u16)angle);
if (status == FLASH_EEPROM_OK) {
// 写入参数
status = write(ADDR_ANGLE_DATA, angle);
if (read(ADDR_ANGLE_DATA, &angle_read) != FLASH_EEPROM_OK)
angle_read = 0; // 读不到角度值，存储失败
if (angle_read != angle) {
status = FLASH_EEPROM_WRITE_ERROR;
CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态
} else {
angle_saved = saved; // 标记已保存过
CAN0_transmiter.EEPROMStatus = 0; // 设置EEPROM状态
} else {
CAN0_transmiter.EEPROMStatus = 1; // 设置EEPROM错误状态
}
CAN0_transmiter.testfloat_union.f = status; // CAN发送测试
}
return status;
}
return FLASH_EEPROM_OK; // 已保存过，直接返回
}
/**
* @brief 读取角度数据从Flash
@@ -268,17 +245,17 @@ FlashEepromStatus FlashEEPROM::save_angle(float angle,
*/
float FlashEEPROM::read_angle() {
u16 angle = 0;
if (read(ADDR_ANGLE_DATA, &angle) == FLASH_EEPROM_OK) {
return (float)angle;
if (read(ADDR_ANGLE_DATA, &angle) != FLASH_EEPROM_OK) {
angle = 0;
}
return 0.0f; // 默认返回0度
return (float)angle; // 默认返回0度
}
/**
* @brief 增加错误计数并保存到Flash
*/
void FlashEEPROM::increment_error_count(void) {
uint16_t error_count = 0;
u16 error_count = 0;
// 读取当前错误计数
FlashEepromStatus read_status = read(ADDR_ERROR_COUNT, &error_count);
@@ -316,9 +293,9 @@ void flash_eeprom_example_main(void) {
// 再次读取参数验证保存是否成功
std::printf("\r\n--- 验证保存的数据 ---\r\n");
uint16_t kp_value, ki_value, kd_value;
uint16_t system_config;
uint16_t error_count;
u16 kp_value, ki_value, kd_value;
u16 system_config;
u16 error_count;
// if (flashEEP.read(ADDR_MOTOR_KP, &kp_value) == FLASH_EEPROM_OK) {
// std::printf("当前KP值: %d\r\n", kp_value);
Robot_V2/sys/flash.h
+7 -4
View File
@@ -3,6 +3,9 @@
#include "gd32c10x.h"
#include <cstdint>
#include <stdint.h>
// 修改后 - 强制4字节对齐
#define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐
// EEPROM操作状态
typedef enum {
@@ -11,7 +14,8 @@ typedef enum {
FLASH_EEPROM_NOT_FOUND, // 未找到指定数据
FLASH_EEPROM_INVALID_ADDR, // 无效地址
FLASH_EEPROM_WRITE_ERROR, // 写入错误
FLASH_EEPROM_ERASE_ERROR // 擦除错误
FLASH_EEPROM_ERASE_ERROR, // 擦除错误
FLASH_EEPROM_ALIGNMENT_ERROR,// 对齐错误
} FlashEepromStatus;
// Flash EEPROM类
@@ -32,7 +36,7 @@ class FlashEEPROM {
static constexpr uint16_t ADDR_ERROR_COUNT = 0x0030; // 错误计数地址
// 角度数据存储地址
static constexpr u16 ADDR_ANGLE_DATA = 0x0021;
static constexpr u16 ADDR_ANGLE_DATA = 0x0013;
bool angle_saved = false;
// 构造函数
FlashEEPROM();
@@ -53,11 +57,10 @@ class FlashEEPROM {
void update_pid_parameters(uint16_t kp, uint16_t ki, uint16_t kd);
void update_system_config(uint16_t config);
void increment_error_count(void);
FlashEepromStatus save_angle(float angle,bool saved);
FlashEepromStatus save_angle(u16 angle, bool saved);
float read_angle();
private:
};
void flash_eeprom_example_main(void);