146 lines
5.3 KiB
C++
146 lines
5.3 KiB
C++
/**********************************************************************
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Copyright (C) 2018 MisfitTech LLC, All rights reserved.
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MisfitTech uses a dual license model that allows the software to be used under
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a standard GPL open source license, or a commercial license. The standard GPL
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license requires that all software statically linked with MisfitTec Code is
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also distributed under the same GPL V2 license terms. Details of both license
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options follow:
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- Open source licensing -
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MisfitTech is a free download and may be used, modified, evaluated and
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distributed without charge provided the user adheres to version two of the GNU
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General Public License (GPL) and does not remove the copyright notice or this
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text. The GPL V2 text is available on the gnu.org web site
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- Commercial licensing -
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Businesses and individuals that for commercial or other reasons cannot comply
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with the terms of the GPL V2 license must obtain a low cost commercial license
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before incorporating MisfitTech code into proprietary software for distribution in
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any form. Commercial licenses can be purchased from www.misfittech.net
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and do not require any source files to be changed.
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This code is distributed in the hope that it will be useful. You cannot
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use MisfitTech's code unless you agree that you use the software 'as is'.
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MisfitTech's code is provided WITHOUT ANY WARRANTY; without even the implied
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warranties of NON-INFRINGEMENT, MERCHANTABILITY or FITNESS FOR A PARTICULAR
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PURPOSE. MisfitTech LLC disclaims all conditions and terms, be they
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implied, expressed, or statutory.
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Written by Trampas Stern for MisfitTech.
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Misfit Tech invests time and resources providing this open source code,
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please support MisfitTech and open-source hardware by purchasing
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products from MisfitTech, www.misifittech.net!
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*********************************************************************/
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#include "nonvolatile.h"
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#include "Flash.h" //thanks to Kent Larsen for pointing out the lower case error
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#include <Arduino.h>
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//we use this so we can hard code calibration table
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// be sure to set the last word as status flag
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// this save time calibrating each time we do a code build
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#ifdef NZS_FAST_CAL
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__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint16_t NVM_flash[16767]={ //allocates 33280 bytes
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#else
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__attribute__((__aligned__(FLASH_ROW_SIZE))) const uint16_t NVM_flash[256]={ //allocates 512 bytes
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#endif
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25758,26078,26399,26720,27043,27372,27698,28024,28353,28688,29017,29345,29671,30009,30340,30663,30997,31335,31664,31994,32325,32666,32997,33324,33661,33997,34330,34657,34986,35324,35653,35981,36303,36637,36962,37282,37605,37938,38260,38581,38901,39232,39554,39877,40198,40528,40849,41178,41500,41835,42163,42485,42815,43149,43475,43804,44139,44476,44801,45136,45460,45804,46130,46460,46790,47119,47449,47777,48103,48442,48772,49099,49424,49759,50087,50410,50735,51067,51394,51716,52045,52379,52703,53024,53348,53680,54002,54326,54648,54987,55309,55629,55958,56292,56612,56936,57262,57594,57917,58246,58569,58902,59225,59552,59873,60206,60534,60862,61192,61531,61864,62194,62529,62873,63210,63544,63878,64222,64562,64899,65241,45,384,719,1058,1398,1733,2058,2390,2732,3060,3394,3720,4056,4386,4710,5036,5366,5693,6016,6340,6665,6989,7308,7622,7952,8263,8586,8903,9232,9551,9874,10200,10534,10859,11185,11513,11852,12184,12514,12848,13185,13511,13841,14170,14504,14830,15156,15490,15827,16153,16481,16808,17143,17474,17801,18121,18458,18783,19111,19433,19765,20084,20405,20721,21045,21360,21673,21984,22305,22614,22922,23231,23551,23861,24173,24482,24808,25118,25435,
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0xFFFF
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};
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static_assert (sizeof(nvm_t)<sizeof(NVM_flash), "nvm_t structure larger than allocated memory");
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//FLASH_ALLOCATE(NVM_flash, sizeof(nvm_t));
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bool nvmWriteCalTable(void *ptrData, uint32_t size)
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{
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bool x=true;
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flashWrite(&NVM->CalibrationTable,ptrData,size);
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return true;
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}
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bool nvmWrite_sPID(float Kp, float Ki, float Kd)
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{
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PIDparams_t pid;
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pid.Kp=Kp;
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pid.Ki=Ki;
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pid.Kd=Kd;
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pid.parametersVaild=true;
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flashWrite((void *)&NVM->sPID,&pid,sizeof(pid));
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return true;
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}
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bool nvmWrite_vPID(float Kp, float Ki, float Kd)
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{
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PIDparams_t pid;
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pid.Kp=Kp;
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pid.Ki=Ki;
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pid.Kd=Kd;
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pid.parametersVaild=true;
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flashWrite((void *)&NVM->vPID,&pid,sizeof(pid));
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return true;
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}
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bool nvmWrite_pPID(float Kp, float Ki, float Kd)
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{
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PIDparams_t pid;
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pid.Kp=Kp;
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pid.Ki=Ki;
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pid.Kd=Kd;
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pid.parametersVaild=true;
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flashWrite((void *)&NVM->pPID,&pid,sizeof(pid));
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return true;
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}
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bool nvmWriteSystemParms(SystemParams_t &systemParams)
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{
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systemParams.parametersVaild=true;
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flashWrite((void *)&NVM->SystemParams,&systemParams,sizeof(systemParams));
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return true;
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}
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bool nvmWriteMotorParms(MotorParams_t &motorParams)
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{
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motorParams.parametersVaild=true;
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flashWrite((void *)&NVM->motorParams,&motorParams,sizeof(motorParams));
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return true;
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}
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bool nvmErase(void)
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{
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bool data=false;
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uint16_t cs=0;
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flashWrite((void *)&NVM->CalibrationTable.status,&data,sizeof(data));
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flashWrite((void *)&NVM->sPID.parametersVaild ,&data,sizeof(data));
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flashWrite((void *)&NVM->vPID.parametersVaild ,&data,sizeof(data));
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flashWrite((void *)&NVM->pPID.parametersVaild ,&data,sizeof(data));
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flashWrite((void *)&NVM->motorParams.parametersVaild ,&data,sizeof(data));
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flashWrite((void *)&NVM->SystemParams.parametersVaild ,&data,sizeof(data));
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#ifdef NZS_FAST_CAL
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flashWrite((void *)&NVM->FastCal.checkSum,&cs,sizeof(cs));
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#endif
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}
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