287 lines
9.1 KiB
C
287 lines
9.1 KiB
C
/**
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* Atmel SAM3 flash support for CANopen stack
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*
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* @file CO_Flash.c
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* @author Olof Larsson
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* @copyright 2014 Olof Larsson
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*
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* This file is part of CANopenNode, an opensource CANopen Stack.
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* Project home page is <http://canopennode.sourceforge.net>.
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* For more information on CANopen see <http://www.can-cia.org/>.
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*
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* CANopenNode is free software: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 2.1 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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* This piece of software is using The Atmel Software Framework (ASF).
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*
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* http://www.atmel.com/asf
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*
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*/
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//============================================================================
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// INCLUDES
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//============================================================================
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#include "CANopen.h"
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#include "asf.h"
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//============================================================================
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// DEFINES
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//============================================================================
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#define PARAM_STORE_PASSWORD 0x65766173
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#define PARAM_RESTORE_PASSWORD 0x64616F6C
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#define DEBUG 0
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#define CO_DBG_PRINT(...) do { if (DEBUG) printf(__VA_ARGS__); } while (0)
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#define LAST_PAGE_ADDRESS (IFLASH1_ADDR + IFLASH1_SIZE - (2*IFLASH1_PAGE_SIZE))
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#define PAGES_PER_FLASH_AREA 6
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#define CO_OD_FLASH_PARAM_DEFAULT LAST_PAGE_ADDRESS - (1*PAGES_PER_FLASH_AREA*IFLASH1_PAGE_SIZE)
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#define CO_OD_FLASH_PARAM_RUNTIME LAST_PAGE_ADDRESS - (2*PAGES_PER_FLASH_AREA*IFLASH1_PAGE_SIZE)
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#define IFLASH_PAGE_SIZE IFLASH1_PAGE_SIZE
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#define CO_UNUSED(v) (void)(v)
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//============================================================================
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// LOCAL DATA
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//============================================================================
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extern struct sCO_OD_ROM CO_OD_ROM;
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enum CO_OD_H1010_StoreParam_Sub
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{
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OD_H1010_STORE_PARAM_COUNT,
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OD_H1010_STORE_PARAM_ALL,
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OD_H1010_STORE_PARAM_COMM,
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OD_H1010_STORE_PARAM_APP,
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OD_H1010_STORE_PARAM_MANUFACTURER,
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OD_H1010_STORE_PARAM_RESERVED = 0x80
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};
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enum CO_OD_H1011_RestoreDefaultParam_Sub
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{
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OD_H1011_RESTORE_PARAM_COUNT,
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OD_H1011_RESTORE_PARAM_ALL,
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OD_H1011_RESTORE_PARAM_COMM,
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OD_H1011_RESTORE_PARAM_APP,
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OD_H1011_RESTORE_PARAM_MANUFACTURER,
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OD_H1011_RESTORE_PARAM_RESERVED = 0x80
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};
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enum CO_StorageFunctionality_Flags
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{
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SAVES_PARAM_ON_COMMAND = 0x01,
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SAVES_PARAM_AUTONOMOUSLY = 0x02
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};
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enum CO_RestoreFunctionality_Flags
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{
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RESTORES_PARAMETERS = 0x01
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};
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//============================================================================
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/**
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* Store parameters of object dictionary into flash memory.
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* \param[in] FlashAddress Use CO_OD_Flash_Adress for the normal parameter
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* block and CO_OD_Flash_Default_Param for the
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* default parameters
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*/
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static CO_SDO_abortCode_t storeParameters(uint32_t FlashAddress, uint8_t ParametersSub)
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{
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uint32_t ret;
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CO_UNUSED(ParametersSub);
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CO_DBG_PRINT("Store parameters\n");
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// Initialize flash, 6 wait states for flash writing.
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if ((ret = flash_init(FLASH_ACCESS_MODE_128, 6)) != FLASH_RC_OK)
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{
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CO_DBG_PRINT("Flash initialization error %u\n\r", ret);
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return CO_SDO_AB_HW;
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}
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// Unlock flash
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if ((ret = flash_unlock(FlashAddress, FlashAddress + (IFLASH_PAGE_SIZE*PAGES_PER_FLASH_AREA), 0, 0)) != FLASH_RC_OK)
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{
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CO_DBG_PRINT("Flash unlock error %u\n\r", ret);
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return CO_SDO_AB_HW;
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}
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// Erase page
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uint32_t erase_flag = 1;
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// Check flash allocation
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int32_t bytes_to_write = sizeof(CO_OD_ROM);
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if ((uint32_t)bytes_to_write > (IFLASH_PAGE_SIZE*PAGES_PER_FLASH_AREA))
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{
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CO_DBG_PRINT("Flash allocation is %u bytes shy\n\r", (uint32_t)bytes_to_write-(IFLASH_PAGE_SIZE*PAGES_PER_FLASH_AREA));
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return CO_SDO_AB_HW;
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}
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// Program data into flash
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if (flash_write(FlashAddress, &CO_OD_ROM, min((int32_t)(IFLASH_PAGE_SIZE*PAGES_PER_FLASH_AREA), bytes_to_write), erase_flag) != FLASH_RC_OK)
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{
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CO_DBG_PRINT("Flash programming error %u\n\r", ret);
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return CO_SDO_AB_HW;
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}
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return CO_SDO_AB_NONE;
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}
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//============================================================================
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/**
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* Restore parameters of object dictionary from flash memory.
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* \param[in] FlashAddress Use CO_OD_Flash_Adress for the normal parameter
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* block and CO_OD_Flash_Default_Param for the
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* default parameters
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*/
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void flash_read(uint32_t FlashAddress, void* RamAddress, size_t len)
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{
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uint8_t *p_flash = (uint8_t *) FlashAddress;
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uint32_t idx;
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CO_DBG_PRINT("Restoring parameters...");
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for (idx = 0; idx < min(IFLASH_PAGE_SIZE*PAGES_PER_FLASH_AREA, len); idx++)
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{
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((uint8_t *) RamAddress)[idx] = p_flash[idx];
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}
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CO_DBG_PRINT(" %u bytes from 0x%08x\n\r", idx, FlashAddress);
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}
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static CO_SDO_abortCode_t restoreParameters(uint32_t FlashAddress, uint8_t ParametersSub)
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{
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CO_UNUSED(ParametersSub);
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flash_read(FlashAddress, &CO_OD_ROM, sizeof(CO_OD_ROM));
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return CO_SDO_AB_NONE;
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}
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//============================================================================
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/**
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* Access to object dictionary OD_H1010_STORE_PARAM_FUNC
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*/
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static CO_SDO_abortCode_t CO_ODF_1010_StoreParam(CO_ODF_arg_t *ODF_arg)
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{
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CO_DBG_PRINT("CO_ODF_1010 Sub: %d\n\r", ODF_arg->subIndex);
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uint32_t* value = (uint32_t*)ODF_arg->data;
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if (ODF_arg->reading)
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{
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if(OD_H1010_STORE_PARAM_ALL == ODF_arg->subIndex)
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{
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*value = SAVES_PARAM_ON_COMMAND;
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}
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return CO_SDO_AB_NONE;
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}
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if(OD_H1010_STORE_PARAM_ALL != ODF_arg->subIndex)
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{
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return CO_SDO_AB_NONE;
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}
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if (*value != PARAM_STORE_PASSWORD)
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{
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return CO_SDO_AB_DATA_TRANSF;
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}
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return storeParameters(CO_OD_FLASH_PARAM_RUNTIME, ODF_arg->subIndex);
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}
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//============================================================================
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/**
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* Access to object dictionary OD_H1010_STORE_PARAM_FUNC
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*/
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static CO_SDO_abortCode_t CO_ODF_1011_RestoreParam(CO_ODF_arg_t *ODF_arg)
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{
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CO_DBG_PRINT("CO_ODF_1010 Sub: %d\n\r", ODF_arg->subIndex);
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uint32_t* value = (uint32_t*)ODF_arg->data;
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if (ODF_arg->reading)
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{
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if (OD_H1011_RESTORE_PARAM_ALL == ODF_arg->subIndex)
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{
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*value = RESTORES_PARAMETERS;
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}
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return CO_SDO_AB_NONE;
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}
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if (OD_H1011_RESTORE_PARAM_ALL != ODF_arg->subIndex)
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{
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return CO_SDO_AB_NONE;
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}
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if (*value != PARAM_RESTORE_PASSWORD)
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{
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return CO_SDO_AB_DATA_TRANSF;
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}
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CO_SDO_abortCode_t Result = restoreParameters(CO_OD_FLASH_PARAM_DEFAULT,
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ODF_arg->subIndex);
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if (Result != CO_SDO_AB_NONE)
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{
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CO_DBG_PRINT("restoreParameters returned error");
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return Result;
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}
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return storeParameters(CO_OD_FLASH_PARAM_RUNTIME, OD_H1011_RESTORE_PARAM_ALL);
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}
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//===========================================================================
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/**
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* Initialize flash library and data storage in flash
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* We use two blocks in flash for data storage. One block is used for the
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* default data that will be restored. The default parameters are stored
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* at address CO_OD_Flash_Default_Param. The data that will be loaded at
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* startup or saved if user modifies data is store at CO_OD_Flash_Adress.
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*/
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void CO_FlashInit(void)
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{
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// Info on addresses for flash data and default flash data
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CO_DBG_PRINT("Runtime OD flash, address 0x%08x, %u bytes\n\r", CO_OD_FLASH_PARAM_DEFAULT, PAGES_PER_FLASH_AREA*IFLASH1_PAGE_SIZE);
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CO_DBG_PRINT("Default OD flash, address 0x%08x, %u bytes\n\r", CO_OD_FLASH_PARAM_DEFAULT, PAGES_PER_FLASH_AREA*IFLASH1_PAGE_SIZE);
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/* Before we can access the data, we need to make sure, that the flash
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block are properly initialized. We do this by reading the block into
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a local sCO_OD_ROM variable and verifying the FirstWord and LastWord
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members. */
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struct sCO_OD_ROM DefaultObjDicParam;
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flash_read(CO_OD_FLASH_PARAM_DEFAULT, &DefaultObjDicParam, sizeof(DefaultObjDicParam));
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/* If the default parameters are not present in flash, then we know that
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we need to create them for later restore. */
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if ((DefaultObjDicParam.FirstWord != CO_OD_FIRST_LAST_WORD) ||
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(DefaultObjDicParam.LastWord != CO_OD_FIRST_LAST_WORD))
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{
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storeParameters(CO_OD_FLASH_PARAM_RUNTIME, OD_H1010_STORE_PARAM_ALL);
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storeParameters(CO_OD_FLASH_PARAM_DEFAULT, OD_H1010_STORE_PARAM_ALL);
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}
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else
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{
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restoreParameters(CO_OD_FLASH_PARAM_RUNTIME, OD_H1010_STORE_PARAM_ALL);
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}
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}
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//===========================================================================
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void CO_FlashRegisterODFunctions(CO_t* CO)
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{
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CO_OD_configure(CO->SDO, OD_H1010_STORE_PARAM_FUNC,
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CO_ODF_1010_StoreParam, (void*)0, 0, 0);
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CO_OD_configure(CO->SDO, OD_H1011_REST_PARAM_FUNC,
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CO_ODF_1011_RestoreParam, (void*)0, 0, 0);
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}
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