mirror of https://github.com/ArduPilot/ardupilot
329 lines
9.1 KiB
C
329 lines
9.1 KiB
C
/************************************************************************************
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* Copyright (C) 2011 Uros Platise. All rights reserved.
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* Author: Uros Platise <uros.platise@isotel.eu>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name NuttX nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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************************************************************************************/
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* Modified for use in AP_HAL by Andrew Tridgell and Siddharth Bharat Purohit
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*/
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#include "flash.h"
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#include "hal.h"
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// #pragma GCC optimize("O0")
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/*
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this driver has been tested with STM32F427 and STM32F412
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*/
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#ifndef HAL_USE_EMPTY_STORAGE
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#ifndef BOARD_FLASH_SIZE
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#error "You must define BOARD_FLASH_SIZE in kbyte"
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#endif
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#define KB(x) ((x*1024))
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// Refer Flash memory map in the User Manual to fill the following fields per microcontroller
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#define STM32_FLASH_BASE 0x08000000
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#define STM32_FLASH_SIZE KB(BOARD_FLASH_SIZE)
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// optionally disable interrupts during flash writes
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#define STM32_FLASH_DISABLE_ISR 0
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// the 2nd bank of flash needs to be handled differently
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#define STM32_FLASH_BANK2_START (STM32_FLASH_BASE+0x00080000)
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#if BOARD_FLASH_SIZE == 512
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#define STM32_FLASH_NPAGES 7
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static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(16), KB(16), KB(16), KB(16), KB(64),
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KB(128), KB(128), KB(128) };
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#elif BOARD_FLASH_SIZE == 1024
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#define STM32_FLASH_NPAGES 12
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static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(16), KB(16), KB(16), KB(16), KB(64),
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KB(128), KB(128), KB(128), KB(128), KB(128), KB(128), KB(128) };
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#elif BOARD_FLASH_SIZE == 2048
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#define STM32_FLASH_NPAGES 24
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static const uint32_t flash_memmap[STM32_FLASH_NPAGES] = { KB(16), KB(16), KB(16), KB(16), KB(64),
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KB(128), KB(128), KB(128), KB(128), KB(128), KB(128), KB(128),
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KB(16), KB(16), KB(16), KB(16), KB(64),
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KB(128), KB(128), KB(128), KB(128), KB(128), KB(128), KB(128)};
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#endif
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// keep a cache of the page addresses
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static uint32_t flash_pageaddr[STM32_FLASH_NPAGES];
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static bool flash_pageaddr_initialised;
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#define FLASH_KEY1 0x45670123
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#define FLASH_KEY2 0xCDEF89AB
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/* Some compiler options will convert short loads and stores into byte loads
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* and stores. We don't want this to happen for IO reads and writes!
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*/
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/* # define getreg16(a) (*(volatile uint16_t *)(a)) */
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static inline uint16_t getreg16(unsigned int addr)
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{
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uint16_t retval;
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__asm__ __volatile__("\tldrh %0, [%1]\n\t" : "=r"(retval) : "r"(addr));
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return retval;
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}
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/* define putreg16(v,a) (*(volatile uint16_t *)(a) = (v)) */
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static inline void putreg16(uint16_t val, unsigned int addr)
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{
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__asm__ __volatile__("\tstrh %0, [%1]\n\t": : "r"(val), "r"(addr));
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}
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static void stm32_flash_wait_idle(void)
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{
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while (FLASH->SR & FLASH_SR_BSY) {
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// nop
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}
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}
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static void stm32_flash_unlock(void)
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{
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stm32_flash_wait_idle();
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if (FLASH->CR & FLASH_CR_LOCK) {
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/* Unlock sequence */
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FLASH->KEYR = FLASH_KEY1;
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FLASH->KEYR = FLASH_KEY2;
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}
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// disable the data cache - see stm32 errata 2.1.11
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FLASH->ACR &= ~FLASH_ACR_DCEN;
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}
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void stm32_flash_lock(void)
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{
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stm32_flash_wait_idle();
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FLASH->CR |= FLASH_CR_LOCK;
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// reset and re-enable the data cache - see stm32 errata 2.1.11
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FLASH->ACR |= FLASH_ACR_DCRST;
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FLASH->ACR &= ~FLASH_ACR_DCRST;
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FLASH->ACR |= FLASH_ACR_DCEN;
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}
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/*
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get the memory address of a page
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*/
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uint32_t stm32_flash_getpageaddr(uint32_t page)
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{
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if (page >= STM32_FLASH_NPAGES) {
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return 0;
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}
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if (!flash_pageaddr_initialised) {
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uint32_t address = STM32_FLASH_BASE;
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uint8_t i;
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for (i = 0; i < STM32_FLASH_NPAGES; i++) {
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flash_pageaddr[i] = address;
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address += stm32_flash_getpagesize(i);
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}
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flash_pageaddr_initialised = true;
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}
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return flash_pageaddr[page];
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}
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/*
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get size in bytes of a page
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*/
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uint32_t stm32_flash_getpagesize(uint32_t page)
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{
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return flash_memmap[page];
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}
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/*
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return total number of pages
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*/
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uint32_t stm32_flash_getnumpages()
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{
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return STM32_FLASH_NPAGES;
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}
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static bool stm32_flash_ispageerased(uint32_t page)
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{
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uint32_t addr;
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uint32_t count;
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if (page >= STM32_FLASH_NPAGES) {
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return false;
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}
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for (addr = stm32_flash_getpageaddr(page), count = stm32_flash_getpagesize(page);
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count; count--, addr++) {
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if ((*(volatile uint8_t *)(addr)) != 0xff) {
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return false;
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}
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}
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return true;
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}
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/*
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erase a page
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*/
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bool stm32_flash_erasepage(uint32_t page)
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{
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if (page >= STM32_FLASH_NPAGES) {
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return false;
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}
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#if STM32_FLASH_DISABLE_ISR
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syssts_t sts = chSysGetStatusAndLockX();
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#endif
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stm32_flash_wait_idle();
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stm32_flash_unlock();
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// clear any previous errors
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FLASH->SR = 0xF3;
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stm32_flash_wait_idle();
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// the snb mask is not contiguous, calculate the mask for the page
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uint8_t snb = (((page % 12) << 3) | ((page / 12) << 7));
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FLASH->CR = FLASH_CR_PSIZE_1 | snb | FLASH_CR_SER;
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FLASH->CR |= FLASH_CR_STRT;
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stm32_flash_wait_idle();
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if (FLASH->SR) {
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// an error occurred
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FLASH->SR = 0xF3;
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stm32_flash_lock();
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#if STM32_FLASH_DISABLE_ISR
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chSysRestoreStatusX(sts);
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#endif
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return false;
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}
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stm32_flash_lock();
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#if STM32_FLASH_DISABLE_ISR
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chSysRestoreStatusX(sts);
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#endif
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return stm32_flash_ispageerased(page);
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}
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int32_t stm32_flash_write(uint32_t addr, const void *buf, uint32_t count)
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{
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uint16_t *hword = (uint16_t *)buf;
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uint32_t written = count;
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/* STM32 requires half-word access */
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if (count & 1) {
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return -1;
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}
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if ((addr+count) >= STM32_FLASH_BASE+STM32_FLASH_SIZE) {
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return -1;
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}
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/* Get flash ready and begin flashing */
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if (!(RCC->CR & RCC_CR_HSION)) {
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return -1;
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}
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#if STM32_FLASH_DISABLE_ISR
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syssts_t sts = chSysGetStatusAndLockX();
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#endif
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stm32_flash_unlock();
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// clear previous errors
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FLASH->SR = 0xF3;
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/* TODO: implement up_progmem_write() to support other sizes than 16-bits */
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FLASH->CR &= ~(FLASH_CR_PSIZE);
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FLASH->CR |= FLASH_CR_PSIZE_0 | FLASH_CR_PG;
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for (;count; count -= 2, hword++, addr += 2) {
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/* Write half-word and wait to complete */
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putreg16(*hword, addr);
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stm32_flash_wait_idle();
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if (FLASH->SR) {
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// we got an error
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FLASH->SR = 0xF3;
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FLASH->CR &= ~(FLASH_CR_PG);
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goto failed;
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}
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if (getreg16(addr) != *hword) {
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FLASH->CR &= ~(FLASH_CR_PG);
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goto failed;
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}
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}
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FLASH->CR &= ~(FLASH_CR_PG);
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stm32_flash_lock();
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#if STM32_FLASH_DISABLE_ISR
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chSysRestoreStatusX(sts);
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#endif
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return written;
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failed:
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stm32_flash_lock();
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#if STM32_FLASH_DISABLE_ISR
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chSysRestoreStatusX(sts);
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#endif
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return -1;
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}
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#endif // HAL_USE_EMPTY_STORAGE
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