mirror of https://github.com/ArduPilot/ardupilot
209 lines
6.0 KiB
C
209 lines
6.0 KiB
C
#include <AP_HAL_Boards.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "libmaple.h"
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#include "util.h"
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#include "flash.h"
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#include "flash_stm32.h"
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#ifndef __get_bits
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// add macros missing in maple 0.0.12
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#define __set_bits(addr, mask) (*(volatile uint32*)(addr) |= (uint32)(mask))
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#define __clear_bits(addr, mask) (*(volatile uint32*)(addr) &= (uint32)~(mask))
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#define __get_bits(addr, mask) (*(volatile uint32*)(addr) & (uint32)(mask))
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#define __read(reg) (*(volatile uint32*)(reg))
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#define __write(reg, value) (*(volatile uint32*)(reg) = (value))
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#endif
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#undef FLASH_BASE
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#define FLASH_BASE 0x40022000
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#define FLASH_SR (FLASH_BASE + 0x0C)
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// FLASH_ACR + 0x00
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#define FLASH_KEYR (FLASH_BASE + 0x04)
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// FLASH_OPTKEYR + 0x08
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#define FLASH_CR (FLASH_BASE + 0x10)
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#define FLASH_AR (FLASH_BASE + 0x14)
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// FLASH_RESERVED + 0x18
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// FLASH_OBR + 0x1C
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// FLASH_WRPR + 0x20
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#define FLASH_FLAG_BSY ((uint32)0x00000001) /*!< FLASH Busy flag */
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#define FLASH_FLAG_PGERR ((uint32)0x00000004) /*!< FLASH Program error flag */
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#define FLASH_FLAG_WRPRTERR ((uint32)0x00000010) /*!< FLASH Write protected error flag */
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#define FLASH_FLAG_EOP ((uint32)0x00000020) /*!< FLASH End of Operation flag */
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#define FLASH_FLAG_OPTERR ((uint32)0x00000001) /*!< FLASH Option Byte error flag */
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/* Flash Control Register bits */
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#define CR_PG_Set ((uint32)0x00000001)
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#define CR_PG_Reset ((uint32)0x00001FFE)
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#define CR_PER_Set ((uint32)0x00000002)
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#define CR_PER_Reset ((uint32)0x00001FFD)
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//#define CR_MER_Set ((uint32)0x00000004)
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//#define CR_MER_Reset ((uint32)0x00001FFB)
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//#define CR_OPTPG_Set ((uint32)0x00000010)
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//#define CR_OPTPG_Reset ((uint32)0x00001FEF)
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//#define CR_OPTER_Set ((uint32)0x00000020)
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//#define CR_OPTER_Reset ((uint32)0x00001FDF)
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#define CR_STRT_Set ((uint32)0x00000040)
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#define CR_LOCK_Set ((uint32)0x00000080)
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#define FLASH_KEY1 ((uint32)0x45670123)
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#define FLASH_KEY2 ((uint32)0xCDEF89AB)
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/* Delay definition */
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#define EraseTimeout ((uint32)0x00000FFF)
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#define ProgramTimeout ((uint32)0x0000001F)
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/**
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* @brief Inserts a time delay.
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* @param None
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* @retval None
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*/
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static void delay(void)
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{
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__io uint32 i = 0;
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for(i = 0xFF; i != 0; i--) { }
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}
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/**
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* @brief Returns the FLASH Status.
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* @param None
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* @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG,
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* FLASH_ERROR_WRP or FLASH_COMPLETE
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*/
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FLASH_Status FLASH_GetStatus(void)
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{
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if(__get_bits(FLASH_SR, FLASH_FLAG_BSY) == FLASH_FLAG_BSY)
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return FLASH_BUSY;
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if(__get_bits(FLASH_SR, FLASH_FLAG_PGERR) != 0)
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return FLASH_ERROR_PG;
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if(__get_bits(FLASH_SR, FLASH_FLAG_WRPRTERR) != 0 )
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return FLASH_ERROR_WRP;
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if(__get_bits(FLASH_SR, FLASH_FLAG_OPTERR) != 0 )
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return FLASH_ERROR_OPT;
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return FLASH_COMPLETE;
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}
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/**
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* @brief Waits for a Flash operation to complete or a TIMEOUT to occur.
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* @param Timeout: FLASH progamming Timeout
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* @retval FLASH Status: The returned value can be: FLASH_ERROR_PG,
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* FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT.
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*/
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FLASH_Status FLASH_WaitForLastOperation(uint32 Timeout)
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{
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FLASH_Status status;
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/* Check for the Flash Status */
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status = FLASH_GetStatus();
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/* Wait for a Flash operation to complete or a TIMEOUT to occur */
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while((status == FLASH_BUSY) && (Timeout != 0x00))
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{
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delay();
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status = FLASH_GetStatus();
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Timeout--;
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}
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if (Timeout == 0)
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status = FLASH_TIMEOUT;
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/* Return the operation status */
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return status;
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}
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/**
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* @brief Erases a specified FLASH page.
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* @param Page_Address: The page address to be erased.
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* @retval FLASH Status: The returned value can be: FLASH_BUSY, FLASH_ERROR_PG,
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* FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT.
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*/
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FLASH_Status FLASH_ErasePage(uint32 Page_Address)
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{
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FLASH_Status status = FLASH_COMPLETE;
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/* Check the parameters */
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ASSERT(IS_FLASH_ADDRESS(Page_Address));
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/* Wait for last operation to be completed */
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status = FLASH_WaitForLastOperation(EraseTimeout);
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if(status == FLASH_COMPLETE)
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{
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/* if the previous operation is completed, proceed to erase the page */
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__set_bits(FLASH_CR, CR_PER_Set);
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__write(FLASH_AR, Page_Address);
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__set_bits(FLASH_CR, CR_STRT_Set);
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/* Wait for last operation to be completed */
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status = FLASH_WaitForLastOperation(EraseTimeout);
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if(status != FLASH_TIMEOUT)
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{
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/* if the erase operation is completed, disable the PER Bit */
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__clear_bits(FLASH_CR, ~CR_PER_Reset);
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}
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__write(FLASH_SR, (FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR));
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}
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/* Return the Erase Status */
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return status;
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}
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/**
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* @brief Programs a half word at a specified address.
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* @param Address: specifies the address to be programmed.
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* @param Data: specifies the data to be programmed.
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* @retval FLASH Status: The returned value can be: FLASH_ERROR_PG,
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* FLASH_ERROR_WRP, FLASH_COMPLETE or FLASH_TIMEOUT.
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*/
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FLASH_Status FLASH_ProgramHalfWord(uint32 Address, uint16 Data)
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{
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FLASH_Status status = FLASH_BAD_ADDRESS;
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if (IS_FLASH_ADDRESS(Address))
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{
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/* Wait for last operation to be completed */
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status = FLASH_WaitForLastOperation(ProgramTimeout);
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if(status == FLASH_COMPLETE)
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{
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/* if the previous operation is completed, proceed to program the new data */
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__set_bits(FLASH_CR, CR_PG_Set);
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*(__io uint16*)Address = Data;
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/* Wait for last operation to be completed */
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status = FLASH_WaitForLastOperation(ProgramTimeout);
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if(status != FLASH_TIMEOUT)
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{
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/* if the program operation is completed, disable the PG Bit */
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__clear_bits(FLASH_CR, ~CR_PG_Reset);
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}
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__write(FLASH_SR, (FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR));
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}
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}
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return status;
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}
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/**
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* @brief Unlocks the FLASH Program Erase Controller.
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* @param None
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* @retval None
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*/
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void FLASH_Unlock(void)
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{
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/* Authorize the FPEC Access */
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__write(FLASH_KEYR, FLASH_KEY1);
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__write(FLASH_KEYR, FLASH_KEY2);
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}
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/**
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* @brief Locks the FLASH Program Erase Controller.
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* @param None
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* @retval None
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*/
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void FLASH_Lock(void)
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{
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/* Set the Lock Bit to lock the FPEC and the FCR */
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__set_bits(FLASH_CR, CR_LOCK_Set);
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}
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#endif
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