diff --git a/CMakeLists.txt b/CMakeLists.txt
index f4d7ecc6e9ce79da1c8f3d7360612f6340258784..0b08a596c2f950728c693804a6d1b29f38da426f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ SET(lib_sources ./stm32_libraries/utils/src/buffer.c
./stm32_libraries/memory/src/mem_module.c
./stm32_libraries/memory/src/memory.c
./stm32_libraries/memory/src/ram.c
+ ./stm32_libraries/memory/src/eeprom.c
./stm32_libraries/dynamixel_base/src/dynamixel2.c
./stm32_libraries/dynamixel_base/src/dynamixel.c
./stm32_libraries/dynamixel_base/src/dynamixel_master.c
@@ -31,6 +32,7 @@ SET(lib_headers ./stm32_libraries/utils/include/buffer.h
./stm32_libraries/memory/include/mem_module.h
./stm32_libraries/memory/include/memory.h
./stm32_libraries/memory/include/ram.h
+ ./stm32_libraries/memory/include/f1/eeprom.h
./stm32_libraries/dynamixel_base/include/dynamixel2.h
./stm32_libraries/dynamixel_base/include/dynamixel.h
./stm32_libraries/dynamixel_base/include/dynamixel_master.h
@@ -55,6 +57,7 @@ include_directories(./stm32_libraries/utils/include)
include_directories(./stm32_libraries/comm/include)
include_directories(./stm32_libraries/scheduler/include)
include_directories(./stm32_libraries/memory/include)
+include_directories(./stm32_libraries/memory/include/f1)
include_directories(./stm32_libraries/dynamixel_base/include)
include_directories(./stm32_libraries/dynamixel_manager/include)
include_directories(./stm32_libraries/dynamixel_manager/include/modules)
diff --git a/include/darwin_conf.h b/include/darwin_conf.h
index e3b83c3d0c9fe73e424b3a4ee53a94605c36b853..b53c1a30b3aa1e065e0e35d3d7bf6d5049168e22 100644
--- a/include/darwin_conf.h
+++ b/include/darwin_conf.h
@@ -15,6 +15,8 @@
#define DEFAULT_RETURN_DELAY 0x0000
#define DEFAULT_RETURN_LEVEL 0x0002
+#define EEPROM_PAGE_SIZE 0x0800
+#define EEPROM_START_ADDRESS 0x08003800
#define NUM_MOTION_PAGES 46
#define MAX_DYN_MASTER_TX_BUFFER_LEN 1024
#define MAX_DYN_MASTER_RX_BUFFER_LEN 1024
diff --git a/include/eeprom.h b/include/eeprom.h
deleted file mode 100755
index 5d227885a7c436bf53c08f10f51c986163b46e31..0000000000000000000000000000000000000000
--- a/include/eeprom.h
+++ /dev/null
@@ -1,101 +0,0 @@
-/**
- ******************************************************************************
- * @file EEPROM_Emulation/inc/eeprom.h
- * @author MCD Application Team
- * @version V1.0.0
- * @date 17-December-2014
- * @brief This file contains all the functions prototypes for the EEPROM
- * emulation firmware library.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __EEPROM_H
-#define __EEPROM_H
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Includes ------------------------------------------------------------------*/
-#include "stm32f1xx.h"
-
-/* Exported constants --------------------------------------------------------*/
-/* Define the size of the sectors to be used */
-#define PAGE_SIZE (uint32_t)FLASH_PAGE_SIZE /* Page size */
-
-/* EEPROM start address in Flash */
-#define EEPROM_START_ADDRESS ((uint32_t)0x08003800) /* EEPROM emulation start address */
-
-/* Pages 0 and 1 base and end addresses */
-#define PAGE0_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0000))
-#define PAGE0_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + (PAGE_SIZE - 1)))
-#define PAGE0_ID 0x08003800
-
-#define PAGE1_BASE_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 0x0800))
-#define PAGE1_END_ADDRESS ((uint32_t)(EEPROM_START_ADDRESS + 2*PAGE_SIZE - 1))
-#define PAGE1_ID 0x08004000
-
-/* Used Flash pages for EEPROM emulation */
-#define PAGE0 ((uint16_t)0x0000)
-#define PAGE1 ((uint16_t)0x0001)
-
-/* No valid page define */
-#define NO_VALID_PAGE ((uint16_t)0x00AB)
-
-/* Page status definitions */
-#define ERASED ((uint16_t)0xFFFF) /* Page is empty */
-#define RECEIVE_DATA ((uint16_t)0xEEEE) /* Page is marked to receive data */
-#define VALID_PAGE ((uint16_t)0x0000) /* Page containing valid data */
-
-/* Valid pages in read and write defines */
-#define READ_FROM_VALID_PAGE ((uint8_t)0x00)
-#define WRITE_IN_VALID_PAGE ((uint8_t)0x01)
-
-/* Page full define */
-#define PAGE_FULL ((uint8_t)0x80)
-
-/* Variables' number */
-#define NB_OF_VAR ((uint8_t)0x89)
-
-/* Exported types ------------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported functions ------------------------------------------------------- */
-uint16_t EE_Init(void);
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data);
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __EEPROM_H */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 7288e923b884d144214cfbc0ab963daf1a026c7b..dedacdba1db7141918d75855606ea932d4766f33 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,5 +1,4 @@
SET(sources ${CMAKE_CURRENT_SOURCE_DIR}/cm730_fw.c
- ${CMAKE_CURRENT_SOURCE_DIR}/eeprom.c
${CMAKE_CURRENT_SOURCE_DIR}/system_stm32f1xx.c
#${CMAKE_CURRENT_SOURCE_DIR}/gpio.c
${CMAKE_CURRENT_SOURCE_DIR}/darwin_sch.c
diff --git a/src/eeprom.c b/src/eeprom.c
deleted file mode 100755
index 3edde16ec1ce12454a9edc248eaebd05213821c8..0000000000000000000000000000000000000000
--- a/src/eeprom.c
+++ /dev/null
@@ -1,756 +0,0 @@
-/**
- ******************************************************************************
- * @file EEPROM_Emulation/src/eeprom.c
- * @author MCD Application Team
- * @version V1.0.0
- * @date 17-December-2014
- * @brief This file provides all the EEPROM emulation firmware functions.
- ******************************************************************************
- * @attention
- *
- * <h2><center>© COPYRIGHT(c) 2014 STMicroelectronics</center></h2>
- *
- * Redistribution and use in source and binary forms, with or without modification,
- * are permitted provided that the following conditions are met:
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- * 3. Neither the name of STMicroelectronics nor the names of its contributors
- * may be used to endorse or promote products derived from this software
- * without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
- * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
- * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- *
- ******************************************************************************
- */
-
-/** @addtogroup EEPROM_Emulation
- * @{
- */
-
-/* Includes ------------------------------------------------------------------*/
-#include "eeprom.h"
-#include "eeprom_init.h"
-#include "darwin_registers.h"
-
-/* Private typedef -----------------------------------------------------------*/
-/* Private define ------------------------------------------------------------*/
-/* Private macro -------------------------------------------------------------*/
-/* Private variables ---------------------------------------------------------*/
-
-/* Global variable used to store variable value in read sequence */
-uint16_t DataVar = 0;
-
-/* Virtual address defined by the user: 0xFFFF value is prohibited */
-uint16_t eeprom_data[] __attribute__ ((section (".eeprom")))={VALID_PAGE, 0xFFFF};
-
-/* Private function prototypes -----------------------------------------------*/
-/* Private functions ---------------------------------------------------------*/
-static HAL_StatusTypeDef EE_Format(void);
-static uint16_t EE_FindValidPage(uint8_t Operation);
-static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data);
-static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data);
-static uint16_t EE_VerifyPageFullyErased(uint32_t Address);
-
-/**
- * @brief Restore the pages to a known good state in case of page's status
- * corruption after a power loss.
- * @param None.
- * @retval - Flash error code: on write Flash error
- * - FLASH_COMPLETE: on success
- */
-uint16_t EE_Init(void)
-{
- uint16_t pagestatus0 = 6, pagestatus1 = 6;
- uint16_t varidx = 0;
- uint16_t eepromstatus = 0, readstatus = 0;
- int16_t x = -1;
- HAL_StatusTypeDef flashstatus;
- uint32_t page_error = 0;
- FLASH_EraseInitTypeDef s_eraseinit;
-
- /* Unlock the Flash Program Erase controller */
- HAL_FLASH_Unlock();
-
- /* Get Page0 status */
- pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
- /* Get Page1 status */
- pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
-
- /* Fill EraseInit structure*/
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE0_ID;
- s_eraseinit.NbPages = 1;
-
- /* Check for invalid header states and repair if necessary */
- switch (pagestatus0)
- {
- case ERASED:
- if (pagestatus1 == VALID_PAGE) /* Page0 erased, Page1 valid */
- {
- /* Erase Page0 */
- if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- }
- else if (pagestatus1 == RECEIVE_DATA) /* Page0 erased, Page1 receive */
- {
- /* Erase Page0 */
- if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- /* Mark Page1 as valid */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- else /* First EEPROM access (Page0&1 are erased) or invalid state -> format EEPROM */
- {
- /* Erase both Page0 and Page1 and set Page0 as valid page */
- flashstatus = EE_Format();
- /* If erase/program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- break;
-
- case RECEIVE_DATA:
- if (pagestatus1 == VALID_PAGE) /* Page0 receive, Page1 valid */
- {
- /* Transfer data from Page1 to Page0 */
- for (varidx = 0; varidx < NB_OF_VAR; varidx++)
- {
- if (( *(__IO uint16_t*)(PAGE0_BASE_ADDRESS + 6)) == eeprom_data[varidx])
- {
- x = varidx;
- }
- if (varidx != x)
- {
- /* Read the last variables' updates */
- readstatus = EE_ReadVariable(eeprom_data[varidx], &DataVar);
- /* In case variable corresponding to the virtual address was found */
- if (readstatus != 0x1)
- {
- /* Transfer the variable to the Page0 */
- eepromstatus = EE_VerifyPageFullWriteVariable(eeprom_data[varidx], DataVar);
- /* If program operation was failed, a Flash error code is returned */
- if (eepromstatus != HAL_OK)
- {
- return eepromstatus;
- }
- }
- }
- }
- /* Mark Page0 as valid */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE1_ID;
- s_eraseinit.NbPages = 1;
- /* Erase Page1 */
- if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- }
- else if (pagestatus1 == ERASED) /* Page0 receive, Page1 erased */
- {
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE1_ID;
- s_eraseinit.NbPages = 1;
- /* Erase Page1 */
- if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- /* Mark Page0 as valid */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- else /* Invalid state -> format eeprom */
- {
- /* Erase both Page0 and Page1 and set Page0 as valid page */
- flashstatus = EE_Format();
- /* If erase/program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- break;
-
- case VALID_PAGE:
- if (pagestatus1 == VALID_PAGE) /* Invalid state -> format eeprom */
- {
- /* Erase both Page0 and Page1 and set Page0 as valid page */
- flashstatus = EE_Format();
- /* If erase/program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- else if (pagestatus1 == ERASED) /* Page0 valid, Page1 erased */
- {
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE1_ID;
- s_eraseinit.NbPages = 1;
- /* Erase Page1 */
- if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- }
- else /* Page0 valid, Page1 receive */
- {
- /* Transfer data from Page0 to Page1 */
- for (varidx = 0; varidx < NB_OF_VAR; varidx++)
- {
- if ((*(__IO uint16_t*)(PAGE1_BASE_ADDRESS + 6)) == eeprom_data[varidx])
- {
- x = varidx;
- }
- if (varidx != x)
- {
- /* Read the last variables' updates */
- readstatus = EE_ReadVariable(eeprom_data[varidx], &DataVar);
- /* In case variable corresponding to the virtual address was found */
- if (readstatus != 0x1)
- {
- /* Transfer the variable to the Page1 */
- eepromstatus = EE_VerifyPageFullWriteVariable(eeprom_data[varidx], DataVar);
- /* If program operation was failed, a Flash error code is returned */
- if (eepromstatus != HAL_OK)
- {
- return eepromstatus;
- }
- }
- }
- }
- /* Mark Page1 as valid */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE1_BASE_ADDRESS, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE0_ID;
- s_eraseinit.NbPages = 1;
- /* Erase Page0 */
- if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- }
- break;
-
- default: /* Any other state -> format eeprom */
- /* Erase both Page0 and Page1 and set Page0 as valid page */
- flashstatus = EE_Format();
- /* If erase/program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- break;
- }
-
- return HAL_OK;
-}
-
-/**
- * @brief Verify if specified page is fully erased.
- * @param Address: page address
- * This parameter can be one of the following values:
- * @arg PAGE0_BASE_ADDRESS: Page0 base address
- * @arg PAGE1_BASE_ADDRESS: Page1 base address
- * @retval page fully erased status:
- * - 0: if Page not erased
- * - 1: if Page erased
- */
-uint16_t EE_VerifyPageFullyErased(uint32_t Address)
-{
- uint32_t readstatus = 1;
- uint16_t addressvalue = 0x5555;
-
- /* Check each active page address starting from end */
- if(Address==PAGE0_BASE_ADDRESS)
- {
- while (Address <= PAGE0_END_ADDRESS)
- {
- /* Get the current location content to be compared with virtual address */
- addressvalue = (*(__IO uint16_t*)Address);
-
- /* Compare the read address with the virtual address */
- if (addressvalue != ERASED)
- {
- /* In case variable value is read, reset readstatus flag */
- readstatus = 0;
-
- break;
- }
- /* Next address location */
- Address = Address + 4;
- }
- }
- else
- {
- while (Address <= PAGE1_END_ADDRESS)
- {
- /* Get the current location content to be compared with virtual address */
- addressvalue = (*(__IO uint16_t*)Address);
-
- /* Compare the read address with the virtual address */
- if (addressvalue != ERASED)
- {
- /* In case variable value is read, reset readstatus flag */
- readstatus = 0;
-
- break;
- }
- /* Next address location */
- Address = Address + 4;
- }
- }
-
- /* Return readstatus value: (0: Page not erased, 1: Page erased) */
- return readstatus;
-}
-
-/**
- * @brief Returns the last stored variable data, if found, which correspond to
- * the passed virtual address
- * @param VirtAddress: Variable virtual address
- * @param Data: Global variable contains the read variable value
- * @retval Success or error status:
- * - 0: if variable was found
- * - 1: if the variable was not found
- * - NO_VALID_PAGE: if no valid page was found.
- */
-uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data)
-{
- uint16_t validpage = PAGE0;
- uint16_t addressvalue = 0x5555, readstatus = 1;
- uint32_t address = EEPROM_START_ADDRESS, PageStartAddress = EEPROM_START_ADDRESS;
-
- /* Get active Page for read operation */
- validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
-
- /* Check if there is no valid page */
- if (validpage == NO_VALID_PAGE)
- {
- return NO_VALID_PAGE;
- }
-
- /* Get the valid Page start Address */
- PageStartAddress = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
-
- /* Get the valid Page end Address */
- address = (uint32_t)((EEPROM_START_ADDRESS - 2) + (uint32_t)((1 + validpage) * PAGE_SIZE));
-
- /* Check each active page address starting from end */
- while (address > (PageStartAddress + 2))
- {
- /* Get the current location content to be compared with virtual address */
- addressvalue = (*(__IO uint16_t*)address);
-
- /* Compare the read address with the virtual address */
- if (addressvalue == VirtAddress)
- {
- /* Get content of Address-2 which is variable value */
- *Data = (*(__IO uint16_t*)(address - 2));
-
- /* In case variable value is read, reset readstatus flag */
- readstatus = 0;
-
- break;
- }
- else
- {
- /* Next address location */
- address = address - 4;
- }
- }
-
- /* Return readstatus value: (0: variable exist, 1: variable doesn't exist) */
- return readstatus;
-}
-
-/**
- * @brief Writes/upadtes variable data in EEPROM.
- * @param VirtAddress: Variable virtual address
- * @param Data: 16 bit data to be written
- * @retval Success or error status:
- * - FLASH_COMPLETE: on success
- * - PAGE_FULL: if valid page is full
- * - NO_VALID_PAGE: if no valid page was found
- * - Flash error code: on write Flash error
- */
-uint16_t EE_WriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
- uint16_t Status = 0;
-
- /* Write the variable virtual address and value in the EEPROM */
- Status = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
-
- /* In case the EEPROM active page is full */
- if (Status == PAGE_FULL)
- {
- /* Perform Page transfer */
- Status = EE_PageTransfer(VirtAddress, Data);
- }
-
- /* Return last operation status */
- return Status;
-}
-
-/**
- * @brief Erases PAGE and PAGE1 and writes VALID_PAGE header to PAGE
- * @param None
- * @retval Status of the last operation (Flash write or erase) done during
- * EEPROM formating
- */
-static HAL_StatusTypeDef EE_Format(void)
-{
- HAL_StatusTypeDef flashstatus = HAL_OK;
- uint32_t page_error = 0;
- FLASH_EraseInitTypeDef s_eraseinit;
-
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = PAGE0_ID;
- s_eraseinit.NbPages = 1;
- /* Erase Page0 */
- if(!EE_VerifyPageFullyErased(PAGE0_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
- /* Set Page0 as valid page: Write VALID_PAGE at Page0 base address */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, PAGE0_BASE_ADDRESS, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
-
- s_eraseinit.PageAddress = PAGE1_ID;
- /* Erase Page1 */
- if(!EE_VerifyPageFullyErased(PAGE1_BASE_ADDRESS))
- {
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- }
-
- return HAL_OK;
-}
-
-/**
- * @brief Find valid Page for write or read operation
- * @param Operation: operation to achieve on the valid page.
- * This parameter can be one of the following values:
- * @arg READ_FROM_VALID_PAGE: read operation from valid page
- * @arg WRITE_IN_VALID_PAGE: write operation from valid page
- * @retval Valid page number (PAGE or PAGE1) or NO_VALID_PAGE in case
- * of no valid page was found
- */
-static uint16_t EE_FindValidPage(uint8_t Operation)
-{
- uint16_t pagestatus0 = 6, pagestatus1 = 6;
-
- /* Get Page0 actual status */
- pagestatus0 = (*(__IO uint16_t*)PAGE0_BASE_ADDRESS);
-
- /* Get Page1 actual status */
- pagestatus1 = (*(__IO uint16_t*)PAGE1_BASE_ADDRESS);
-
- /* Write or read operation */
- switch (Operation)
- {
- case WRITE_IN_VALID_PAGE: /* ---- Write operation ---- */
- if (pagestatus1 == VALID_PAGE)
- {
- /* Page0 receiving data */
- if (pagestatus0 == RECEIVE_DATA)
- {
- return PAGE0; /* Page0 valid */
- }
- else
- {
- return PAGE1; /* Page1 valid */
- }
- }
- else if (pagestatus0 == VALID_PAGE)
- {
- /* Page1 receiving data */
- if (pagestatus1 == RECEIVE_DATA)
- {
- return PAGE1; /* Page1 valid */
- }
- else
- {
- return PAGE0; /* Page0 valid */
- }
- }
- else
- {
- return NO_VALID_PAGE; /* No valid Page */
- }
-
- case READ_FROM_VALID_PAGE: /* ---- Read operation ---- */
- if (pagestatus0 == VALID_PAGE)
- {
- return PAGE0; /* Page0 valid */
- }
- else if (pagestatus1 == VALID_PAGE)
- {
- return PAGE1; /* Page1 valid */
- }
- else
- {
- return NO_VALID_PAGE ; /* No valid Page */
- }
-
- default:
- return PAGE0; /* Page0 valid */
- }
-}
-
-/**
- * @brief Verify if active page is full and Writes variable in EEPROM.
- * @param VirtAddress: 16 bit virtual address of the variable
- * @param Data: 16 bit data to be written as variable value
- * @retval Success or error status:
- * - FLASH_COMPLETE: on success
- * - PAGE_FULL: if valid page is full
- * - NO_VALID_PAGE: if no valid page was found
- * - Flash error code: on write Flash error
- */
-static uint16_t EE_VerifyPageFullWriteVariable(uint16_t VirtAddress, uint16_t Data)
-{
- HAL_StatusTypeDef flashstatus = HAL_OK;
- uint16_t validpage = PAGE0;
- uint32_t address = EEPROM_START_ADDRESS, pageendaddress = EEPROM_START_ADDRESS+PAGE_SIZE;
-
- /* Get valid Page for write operation */
- validpage = EE_FindValidPage(WRITE_IN_VALID_PAGE);
-
- /* Check if there is no valid page */
- if (validpage == NO_VALID_PAGE)
- {
- return NO_VALID_PAGE;
- }
-
- /* Get the valid Page start address */
- address = (uint32_t)(EEPROM_START_ADDRESS + (uint32_t)(validpage * PAGE_SIZE));
-
- /* Get the valid Page end address */
- pageendaddress = (uint32_t)((EEPROM_START_ADDRESS - 1) + (uint32_t)((validpage + 1) * PAGE_SIZE));
-
- /* Check each active page address starting from begining */
- while (address < pageendaddress)
- {
- /* Verify if address and address+2 contents are 0xFFFFFFFF */
- if ((*(__IO uint32_t*)address) == 0xFFFFFFFF)
- {
- /* Set variable data */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address, Data);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
- /* Set variable virtual address */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, address + 2, VirtAddress);
- /* Return program operation status */
- return flashstatus;
- }
- else
- {
- /* Next address location */
- address = address + 4;
- }
- }
-
- /* Return PAGE_FULL in case the valid page is full */
- return PAGE_FULL;
-}
-
-/**
- * @brief Transfers last updated variables data from the full Page to
- * an empty one.
- * @param VirtAddress: 16 bit virtual address of the variable
- * @param Data: 16 bit data to be written as variable value
- * @retval Success or error status:
- * - FLASH_COMPLETE: on success
- * - PAGE_FULL: if valid page is full
- * - NO_VALID_PAGE: if no valid page was found
- * - Flash error code: on write Flash error
- */
-static uint16_t EE_PageTransfer(uint16_t VirtAddress, uint16_t Data)
-{
- HAL_StatusTypeDef flashstatus = HAL_OK;
- uint32_t newpageaddress = EEPROM_START_ADDRESS;
- uint32_t oldpageid = 0;
- uint16_t validpage = PAGE0, varidx = 0, address=0;
- uint16_t eepromstatus = 0, readstatus = 0;
- uint32_t page_error = 0;
- FLASH_EraseInitTypeDef s_eraseinit;
-
- /* Get active Page for read operation */
- validpage = EE_FindValidPage(READ_FROM_VALID_PAGE);
-
- if (validpage == PAGE1) /* Page1 valid */
- {
- /* New page address where variable will be moved to */
- newpageaddress = PAGE0_BASE_ADDRESS;
-
- /* Old page ID where variable will be taken from */
- oldpageid = PAGE1_ID;
- }
- else if (validpage == PAGE0) /* Page0 valid */
- {
- /* New page address where variable will be moved to */
- newpageaddress = PAGE1_BASE_ADDRESS;
-
- /* Old page ID where variable will be taken from */
- oldpageid = PAGE0_ID;
- }
- else
- {
- return NO_VALID_PAGE; /* No valid Page */
- }
-
- /* Set the new Page status to RECEIVE_DATA status */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, RECEIVE_DATA);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
-
- /* Write the variable passed as parameter in the new active page */
- eepromstatus = EE_VerifyPageFullWriteVariable(VirtAddress, Data);
- /* If program operation was failed, a Flash error code is returned */
- if (eepromstatus != HAL_OK)
- {
- return eepromstatus;
- }
-
- /* Transfer process: transfer variables from old to the new active page */
- for (varidx = 0; varidx < NB_OF_VAR; varidx++)
- {
- address=((__IO uint16_t*)oldpageid)[1+varidx*2];
- if (address != VirtAddress) /* Check each variable except the one passed as parameter */
- {
- /* Read the other last variable updates */
- readstatus = EE_ReadVariable(address, &DataVar);
- /* In case variable corresponding to the virtual address was found */
- if (readstatus != 0x1)
- {
- /* Transfer the variable to the new active page */
- eepromstatus = EE_VerifyPageFullWriteVariable(address, DataVar);
- /* If program operation was failed, a Flash error code is returned */
- if (eepromstatus != HAL_OK)
- {
- return eepromstatus;
- }
- }
- }
- }
-
- s_eraseinit.TypeErase = FLASH_TYPEERASE_PAGES;
- s_eraseinit.PageAddress = oldpageid;
- s_eraseinit.NbPages = 1;
-
- /* Erase the old Page: Set old Page status to ERASED status */
- flashstatus = HAL_FLASHEx_Erase(&s_eraseinit, &page_error);
- /* If erase operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
-
- /* Set new Page status to VALID_PAGE status */
- flashstatus = HAL_FLASH_Program(FLASH_TYPEPROGRAM_HALFWORD, newpageaddress, VALID_PAGE);
- /* If program operation was failed, a Flash error code is returned */
- if (flashstatus != HAL_OK)
- {
- return flashstatus;
- }
-
-
-
- /* Return last operation flash status */
- return flashstatus;
-}
-
-/**
- * @}
- */
-
-/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/