mirror of https://github.com/ArduPilot/ardupilot
554 lines
16 KiB
C++
554 lines
16 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "wirish.h"
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#include "EEPROM.h"
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/**
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* @brief Check page for blank
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* @param page base address
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* @retval Success or error
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* EEPROM_BAD_FLASH: page not empty after erase
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* EEPROM_OK: page blank
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*/
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uint16 EEPROMClass::EE_CheckPage(uint32 pageBase, uint16 status)
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{
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uint32 pageEnd = pageBase + (uint32)PageSize;
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// Page Status not EEPROM_ERASED and not a "state"
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if ((*(__io uint16*)pageBase) != EEPROM_ERASED && (*(__io uint16*)pageBase) != status)
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return EEPROM_BAD_FLASH;
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for(pageBase += 4; pageBase < pageEnd; pageBase += 4)
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if ((*(__io uint32*)pageBase) != 0xFFFFFFFF) // Verify if slot is empty
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return EEPROM_BAD_FLASH;
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return EEPROM_OK;
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}
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/**
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* @brief Erase page with increment erase counter (page + 2)
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* @param page base address
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* @retval Success or error
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* FLASH_COMPLETE: success erase
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* - Flash error code: on write Flash error
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*/
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FLASH_Status EEPROMClass::EE_ErasePage(uint32 pageBase)
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{
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FLASH_Status FlashStatus;
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uint16 data = (*(__io uint16*)(pageBase));
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if ((data == EEPROM_ERASED) || (data == EEPROM_VALID_PAGE) || (data == EEPROM_RECEIVE_DATA))
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data = (*(__io uint16*)(pageBase + 2)) + 1;
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else
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data = 0;
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FlashStatus = FLASH_ErasePage(pageBase);
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if (FlashStatus == FLASH_COMPLETE)
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FlashStatus = FLASH_ProgramHalfWord(pageBase + 2, data);
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return FlashStatus;
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}
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/**
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* @brief Check page for blank and erase it
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* @param page base address
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* @retval Success or error
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* - Flash error code: on write Flash error
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* - EEPROM_BAD_FLASH: page not empty after erase
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* - EEPROM_OK: page blank
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*/
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uint16 EEPROMClass::EE_CheckErasePage(uint32 pageBase, uint16 status)
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{
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uint16 FlashStatus;
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if (EE_CheckPage(pageBase, status) != EEPROM_OK)
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{
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FlashStatus = EE_ErasePage(pageBase);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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return EE_CheckPage(pageBase, status);
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}
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return EEPROM_OK;
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}
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/**
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* @brief Find valid Page for write or read operation
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* @param Page0: Page0 base address
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* Page1: Page1 base address
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* @retval Valid page address (PAGE0 or PAGE1) or NULL in case of no valid page was found
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*/
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uint32 EEPROMClass::EE_FindValidPage(void)
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{
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uint16 status0 = (*(__io uint16*)PageBase0); // Get Page0 actual status
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uint16 status1 = (*(__io uint16*)PageBase1); // Get Page1 actual status
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if (status0 == EEPROM_VALID_PAGE && status1 == EEPROM_ERASED)
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return PageBase0;
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if (status1 == EEPROM_VALID_PAGE && status0 == EEPROM_ERASED)
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return PageBase1;
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return 0;
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}
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/**
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* @brief Calculate unique variables in EEPROM
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* @param start: address of first slot to check (page + 4)
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* @param end: page end address
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* @param address: 16 bit virtual address of the variable to excluse (or 0XFFFF)
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* @retval count of variables
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*/
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uint16 EEPROMClass::EE_GetVariablesCount(uint32 pageBase, uint16 skipAddress)
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{
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uint16 varAddress, nextAddress;
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uint32 idx;
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uint32 pageEnd = pageBase + (uint32)PageSize;
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uint16 mycount = 0;
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for (pageBase += 6; pageBase < pageEnd; pageBase += 4)
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{
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varAddress = (*(__io uint16*)pageBase);
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if (varAddress == 0xFFFF || varAddress == skipAddress)
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continue;
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mycount++;
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for(idx = pageBase + 4; idx < pageEnd; idx += 4)
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{
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nextAddress = (*(__io uint16*)idx);
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if (nextAddress == varAddress)
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{
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mycount--;
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break;
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}
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}
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}
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return mycount;
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}
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/**
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* @brief Transfers last updated variables data from the full Page to an empty one.
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* @param newPage: new page base address
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* @param oldPage: old page base address
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* @param SkipAddress: 16 bit virtual address of the variable (or 0xFFFF)
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* @retval Success or error status:
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* - FLASH_COMPLETE: on success
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* - EEPROM_OUT_SIZE: if valid new page is full
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* - Flash error code: on write Flash error
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*/
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uint16 EEPROMClass::EE_PageTransfer(uint32 newPage, uint32 oldPage, uint16 SkipAddress)
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{
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uint32 oldEnd, newEnd;
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uint32 oldIdx, newIdx, idx;
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uint16 address, data, found;
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FLASH_Status FlashStatus;
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// Transfer process: transfer variables from old to the new active page
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newEnd = newPage + ((uint32)PageSize);
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// Find first free element in new page
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for (newIdx = newPage + 4; newIdx < newEnd; newIdx += 4)
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if ((*(__io uint32*)newIdx) == 0xFFFFFFFF) // Verify if element
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break; // contents are 0xFFFFFFFF
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if (newIdx >= newEnd)
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return EEPROM_OUT_SIZE;
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oldEnd = oldPage + 4;
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oldIdx = oldPage + (uint32)(PageSize - 2);
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for (; oldIdx > oldEnd; oldIdx -= 4)
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{
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address = *(__io uint16*)oldIdx;
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if (address == 0xFFFF || address == SkipAddress)
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continue; // it's means that power off after write data
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found = 0;
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for (idx = newPage + 6; idx < newIdx; idx += 4)
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if ((*(__io uint16*)(idx)) == address)
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{
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found = 1;
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break;
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}
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if (found)
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continue;
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if (newIdx < newEnd)
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{
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data = (*(__io uint16*)(oldIdx - 2));
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FlashStatus = FLASH_ProgramHalfWord(newIdx, data);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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FlashStatus = FLASH_ProgramHalfWord(newIdx + 2, address);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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newIdx += 4;
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}
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else
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return EEPROM_OUT_SIZE;
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}
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// Erase the old Page: Set old Page status to EEPROM_EEPROM_ERASED status
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data = EE_CheckErasePage(oldPage, EEPROM_ERASED);
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if (data != EEPROM_OK)
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return data;
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// Set new Page status
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FlashStatus = FLASH_ProgramHalfWord(newPage, EEPROM_VALID_PAGE);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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return EEPROM_OK;
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}
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/**
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* @brief Verify if active page is full and Writes variable in EEPROM.
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* @param Address: 16 bit virtual address of the variable
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* @param Data: 16 bit data to be written as variable value
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* @retval Success or error status:
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* - FLASH_COMPLETE: on success
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* - EEPROM_PAGE_FULL: if valid page is full (need page transfer)
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* - EEPROM_NO_VALID_PAGE: if no valid page was found
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* - EEPROM_OUT_SIZE: if EEPROM size exceeded
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* - Flash error code: on write Flash error
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*/
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uint16 EEPROMClass::EE_VerifyPageFullWriteVariable(uint16 Address, uint16 Data)
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{
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FLASH_Status FlashStatus;
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uint32 idx, pageBase, pageEnd, newPage;
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uint16 mycount;
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// Get valid Page for write operation
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pageBase = EE_FindValidPage();
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if (pageBase == 0)
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return EEPROM_NO_VALID_PAGE;
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// Get the valid Page end Address
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pageEnd = pageBase + PageSize; // Set end of page
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for (idx = pageEnd - 2; idx > pageBase; idx -= 4)
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{
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if ((*(__io uint16*)idx) == Address) // Find last value for address
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{
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mycount = (*(__io uint16*)(idx - 2)); // Read last data
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if (mycount == Data)
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return EEPROM_OK;
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if (mycount == 0xFFFF)
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{
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FlashStatus = FLASH_ProgramHalfWord(idx - 2, Data); // Set variable data
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if (FlashStatus == FLASH_COMPLETE)
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return EEPROM_OK;
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}
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break;
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}
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}
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// Check each active page address starting from begining
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for (idx = pageBase + 4; idx < pageEnd; idx += 4)
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if ((*(__io uint32*)idx) == 0xFFFFFFFF) // Verify if element
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{ // contents are 0xFFFFFFFF
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FlashStatus = FLASH_ProgramHalfWord(idx, Data); // Set variable data
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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FlashStatus = FLASH_ProgramHalfWord(idx + 2, Address); // Set variable virtual address
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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return EEPROM_OK;
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}
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// Empty slot not found, need page transfer
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// Calculate unique variables in page
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mycount = EE_GetVariablesCount(pageBase, Address) + 1;
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if (mycount >= (PageSize / 4 - 1))
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return EEPROM_OUT_SIZE;
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if (pageBase == PageBase1)
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newPage = PageBase0; // New page address where variable will be moved to
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else
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newPage = PageBase1;
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// Set the new Page status to RECEIVE_DATA status
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FlashStatus = FLASH_ProgramHalfWord(newPage, EEPROM_RECEIVE_DATA);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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// Write the variable passed as parameter in the new active page
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FlashStatus = FLASH_ProgramHalfWord(newPage + 4, Data);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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FlashStatus = FLASH_ProgramHalfWord(newPage + 6, Address);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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return EE_PageTransfer(newPage, pageBase, Address);
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}
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EEPROMClass::EEPROMClass(void)
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{
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PageBase0 = EEPROM_PAGE0_BASE;
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PageBase1 = EEPROM_PAGE1_BASE;
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PageSize = EEPROM_PAGE_SIZE;
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Status = EEPROM_NOT_INIT;
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}
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uint16 EEPROMClass::init(uint32 pageBase0, uint32 pageBase1, uint32 pageSize)
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{
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PageBase0 = pageBase0;
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PageBase1 = pageBase1;
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PageSize = pageSize;
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return init();
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}
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uint16 EEPROMClass::init(void)
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{
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uint16 status0, status1;
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FLASH_Status FlashStatus;
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FLASH_Unlock();
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Status = EEPROM_NO_VALID_PAGE;
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status0 = (*(__io uint16 *)PageBase0);
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status1 = (*(__io uint16 *)PageBase1);
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switch (status0)
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{
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/*
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Page0 Page1
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----- -----
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EEPROM_ERASED EEPROM_VALID_PAGE Page1 valid, Page0 erased
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EEPROM_RECEIVE_DATA Page1 need set to valid, Page0 erased
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EEPROM_ERASED make EE_Format
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any Error: EEPROM_NO_VALID_PAGE
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*/
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case EEPROM_ERASED:
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if (status1 == EEPROM_VALID_PAGE) // Page0 erased, Page1 valid
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Status = EE_CheckErasePage(PageBase0, EEPROM_ERASED);
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else if (status1 == EEPROM_RECEIVE_DATA) // Page0 erased, Page1 receive
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{
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FlashStatus = FLASH_ProgramHalfWord(PageBase1, EEPROM_VALID_PAGE);
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if (FlashStatus != FLASH_COMPLETE)
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Status = FlashStatus;
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else
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Status = EE_CheckErasePage(PageBase0, EEPROM_ERASED);
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}
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else if (status1 == EEPROM_ERASED) // Both in erased state so format EEPROM
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Status = format();
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break;
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/*
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Page0 Page1
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----- -----
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EEPROM_RECEIVE_DATA EEPROM_VALID_PAGE Transfer Page1 to Page0
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EEPROM_ERASED Page0 need set to valid, Page1 erased
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any EEPROM_NO_VALID_PAGE
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*/
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case EEPROM_RECEIVE_DATA:
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if (status1 == EEPROM_VALID_PAGE) // Page0 receive, Page1 valid
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Status = EE_PageTransfer(PageBase0, PageBase1, 0xFFFF);
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else if (status1 == EEPROM_ERASED) // Page0 receive, Page1 erased
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{
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Status = EE_CheckErasePage(PageBase1, EEPROM_ERASED);
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if (Status == EEPROM_OK)
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{
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FlashStatus = FLASH_ProgramHalfWord(PageBase0, EEPROM_VALID_PAGE);
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if (FlashStatus != FLASH_COMPLETE)
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Status = FlashStatus;
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else
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Status = EEPROM_OK;
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}
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}
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break;
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/*
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Page0 Page1
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----- -----
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EEPROM_VALID_PAGE EEPROM_VALID_PAGE Error: EEPROM_NO_VALID_PAGE
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EEPROM_RECEIVE_DATA Transfer Page0 to Page1
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any Page0 valid, Page1 erased
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*/
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case EEPROM_VALID_PAGE:
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if (status1 == EEPROM_VALID_PAGE) // Both pages valid
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Status = EEPROM_NO_VALID_PAGE;
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else if (status1 == EEPROM_RECEIVE_DATA)
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Status = EE_PageTransfer(PageBase1, PageBase0, 0xFFFF);
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else
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Status = EE_CheckErasePage(PageBase1, EEPROM_ERASED);
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break;
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/*
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Page0 Page1
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----- -----
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any EEPROM_VALID_PAGE Page1 valid, Page0 erased
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EEPROM_RECEIVE_DATA Page1 valid, Page0 erased
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any EEPROM_NO_VALID_PAGE
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*/
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default:
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if (status1 == EEPROM_VALID_PAGE)
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Status = EE_CheckErasePage(PageBase0, EEPROM_ERASED); // Check/Erase Page0
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else if (status1 == EEPROM_RECEIVE_DATA)
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{
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FlashStatus = FLASH_ProgramHalfWord(PageBase1, EEPROM_VALID_PAGE);
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if (FlashStatus != FLASH_COMPLETE)
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Status = FlashStatus;
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else
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Status = EE_CheckErasePage(PageBase0, EEPROM_ERASED);
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}
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break;
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}
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return Status;
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}
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/**
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* @brief Erases PAGE0 and PAGE1 and writes EEPROM_VALID_PAGE / 0 header to PAGE0
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* @param PAGE0 and PAGE1 base addresses
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* @retval Status of the last operation (Flash write or erase) done during EEPROM formating
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*/
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uint16 EEPROMClass::format(void)
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{
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uint16 status;
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FLASH_Status FlashStatus;
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FLASH_Unlock();
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// Erase Page0
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status = EE_CheckErasePage(PageBase0, EEPROM_VALID_PAGE);
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if (status != EEPROM_OK)
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return status;
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if ((*(__io uint16*)PageBase0) == EEPROM_ERASED)
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{
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// Set Page0 as valid page: Write VALID_PAGE at Page0 base address
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FlashStatus = FLASH_ProgramHalfWord(PageBase0, EEPROM_VALID_PAGE);
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if (FlashStatus != FLASH_COMPLETE)
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return FlashStatus;
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}
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// Erase Page1
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return EE_CheckErasePage(PageBase1, EEPROM_ERASED);
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}
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/**
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* @brief Returns the erase counter for current page
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* @param Data: Global variable contains the read variable value
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* @retval Success or error status:
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* - EEPROM_OK: if erases counter return.
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* - EEPROM_NO_VALID_PAGE: if no valid page was found.
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*/
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uint16 EEPROMClass::erases(uint16 *Erases)
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{
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uint32 pageBase;
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if (Status != EEPROM_OK)
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if (init() != EEPROM_OK)
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return Status;
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// Get active Page for read operation
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pageBase = EE_FindValidPage();
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if (pageBase == 0)
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return EEPROM_NO_VALID_PAGE;
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*Erases = (*(__io uint16*)pageBase+2);
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return EEPROM_OK;
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}
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/**
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* @brief Returns the last stored variable data, if found,
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* which correspond to the passed virtual address
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* @param Address: Variable virtual address
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* @retval Data for variable or EEPROM_DEFAULT_DATA, if any errors
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*/
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uint16 EEPROMClass::read (uint16 Address)
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{
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uint16 data;
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read(Address, &data);
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return data;
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}
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/**
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* @brief Returns the last stored variable data, if found,
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* which correspond to the passed virtual address
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* @param Address: Variable virtual address
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* @param Data: Pointer to data variable
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* @retval Success or error status:
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* - EEPROM_OK: if variable was found
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* - EEPROM_BAD_ADDRESS: if the variable was not found
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* - EEPROM_NO_VALID_PAGE: if no valid page was found.
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*/
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uint16 EEPROMClass::read(uint16 Address, uint16 *Data)
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{
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uint32 pageBase, pageEnd;
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// Set default data (empty EEPROM)
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*Data = EEPROM_DEFAULT_DATA;
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if (Status == EEPROM_NOT_INIT)
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if (init() != EEPROM_OK)
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return Status;
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// Get active Page for read operation
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pageBase = EE_FindValidPage();
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if (pageBase == 0)
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return EEPROM_NO_VALID_PAGE;
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// Get the valid Page end Address
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pageEnd = pageBase + ((uint32)(PageSize - 2));
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// Check each active page address starting from end
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for (pageBase += 6; pageEnd >= pageBase; pageEnd -= 4)
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if ((*(__io uint16*)pageEnd) == Address) // Compare the read address with the virtual address
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{
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*Data = (*(__io uint16*)(pageEnd - 2)); // Get content of Address-2 which is variable value
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return EEPROM_OK;
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}
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// Return ReadStatus value: (0: variable exist, 1: variable doesn't exist)
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return EEPROM_BAD_ADDRESS;
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}
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/**
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* @brief Writes/upadtes variable data in EEPROM.
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* @param VirtAddress: Variable virtual address
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* @param Data: 16 bit data to be written
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* @retval Success or error status:
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* - FLASH_COMPLETE: on success
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* - EEPROM_BAD_ADDRESS: if address = 0xFFFF
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* - EEPROM_PAGE_FULL: if valid page is full
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* - EEPROM_NO_VALID_PAGE: if no valid page was found
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* - EEPROM_OUT_SIZE: if no empty EEPROM variables
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* - Flash error code: on write Flash error
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*/
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uint16 EEPROMClass::write(uint16 Address, uint16 Data)
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{
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if (Status == EEPROM_NOT_INIT)
|
|
if (init() != EEPROM_OK)
|
|
return Status;
|
|
|
|
if (Address == 0xFFFF)
|
|
return EEPROM_BAD_ADDRESS;
|
|
|
|
// Write the variable virtual address and value in the EEPROM
|
|
uint16 status = EE_VerifyPageFullWriteVariable(Address, Data);
|
|
return status;
|
|
}
|
|
|
|
/**
|
|
* @brief Return number of variable
|
|
* @retval Number of variables
|
|
*/
|
|
uint16 EEPROMClass::count(uint16 *Count)
|
|
{
|
|
if (Status == EEPROM_NOT_INIT)
|
|
if (init() != EEPROM_OK)
|
|
return Status;
|
|
|
|
// Get valid Page for write operation
|
|
uint32 pageBase = EE_FindValidPage();
|
|
if (pageBase == 0)
|
|
return EEPROM_NO_VALID_PAGE; // No valid page, return max. numbers
|
|
|
|
*Count = EE_GetVariablesCount(pageBase, 0xFFFF);
|
|
return EEPROM_OK;
|
|
}
|
|
|
|
uint16 EEPROMClass::maxcount(void)
|
|
{
|
|
return ((PageSize / 4)-1);
|
|
}
|
|
|
|
EEPROMClass EEPROM;
|
|
#endif
|