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ao_companion: Make motor_number uint16_t
[fw/altos]
/
src
/
stm
/
ao_flash_stm.c
diff --git
a/src/stm/ao_flash_stm.c
b/src/stm/ao_flash_stm.c
index b3ef6a6273ac1bf8f88da1542965c002baf0bc70..77296c322d2f11906c2f02ae966da7e153b0a54c 100644
(file)
--- a/
src/stm/ao_flash_stm.c
+++ b/
src/stm/ao_flash_stm.c
@@
-3,7
+3,8
@@
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
@@
-16,7
+17,7
@@
*/
#include <ao.h>
*/
#include <ao.h>
-#include <ao_flash
_stm
.h>
+#include <ao_flash.h>
static uint8_t
ao_flash_pecr_is_locked(void)
static uint8_t
ao_flash_pecr_is_locked(void)
@@
-39,6
+40,8
@@
ao_flash_pecr_unlock(void)
/* Unlock Data EEPROM and FLASH_PECR register */
stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1;
stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2;
/* Unlock Data EEPROM and FLASH_PECR register */
stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY1;
stm_flash.pekeyr = STM_FLASH_PEKEYR_PEKEY2;
+ if (ao_flash_pecr_is_locked())
+ ao_panic(AO_PANIC_FLASH);
}
static void
}
static void
@@
-50,6
+53,14
@@
ao_flash_pgr_unlock(void)
/* Unlock program memory */
stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY1;
stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY2;
/* Unlock program memory */
stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY1;
stm_flash.prgkeyr = STM_FLASH_PRGKEYR_PRGKEY2;
+ if (ao_flash_pgr_is_locked())
+ ao_panic(AO_PANIC_FLASH);
+}
+
+static void
+ao_flash_lock(void)
+{
+ stm_flash.pecr |= (1 << STM_FLASH_PECR_OPTLOCK) | (1 << STM_FLASH_PECR_PRGLOCK) | (1 << STM_FLASH_PECR_PELOCK);
}
static void
}
static void
@@
-59,32
+70,45
@@
ao_flash_wait_bsy(void)
;
}
;
}
-static void
+static void __attribute__ ((section(".sdata2.flash"), noinline))
+_ao_flash_erase_page(uint32_t *page)
+{
+ stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE) | (1 << STM_FLASH_PECR_PROG);
+
+ *page = 0x00000000;
+
+ ao_flash_wait_bsy();
+}
+
+void
ao_flash_erase_page(uint32_t *page)
{
ao_flash_erase_page(uint32_t *page)
{
+ ao_arch_block_interrupts();
ao_flash_pecr_unlock();
ao_flash_pgr_unlock();
ao_flash_pecr_unlock();
ao_flash_pgr_unlock();
- stm_flash.pecr |= (1 << STM_FLASH_PECR_ERASE);
- stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG);
-
- ao_flash_wait_bsy();
+ _ao_flash_erase_page(page);
- *page = 0x00000000;
+ ao_flash_lock();
+ ao_arch_release_interrupts();
}
}
-static void __attribute__ ((section(".
text.ram
"), noinline))
-
_ao_flash_half_page(uint32_t *dst, uint32_t *src)
+static void __attribute__ ((section(".
sdata2.flash
"), noinline))
+_ao_flash_half_page(uint32_t *dst, uint32_t *src)
{
uint8_t i;
stm_flash.pecr |= (1 << STM_FLASH_PECR_FPRG);
stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG);
{
uint8_t i;
stm_flash.pecr |= (1 << STM_FLASH_PECR_FPRG);
stm_flash.pecr |= (1 << STM_FLASH_PECR_PROG);
+
+ ao_flash_wait_bsy();
+
+ for (i = 0; i < 32; i++) {
+ *dst++ = *src++;
+ }
+
while (stm_flash.sr & (1 << STM_FLASH_SR_BSY))
;
while (stm_flash.sr & (1 << STM_FLASH_SR_BSY))
;
-
- for (i = 0; i < 32; i++)
- *dst++ = *src++;
}
void
}
void
@@
-93,11
+117,15
@@
ao_flash_page(uint32_t *page, uint32_t *src)
uint8_t h;
ao_flash_erase_page(page);
uint8_t h;
ao_flash_erase_page(page);
+
+ ao_arch_block_interrupts();
+ ao_flash_pecr_unlock();
+ ao_flash_pgr_unlock();
for (h = 0; h < 2; h++) {
for (h = 0; h < 2; h++) {
- ao_flash_pecr_unlock();
- ao_flash_pgr_unlock();
_ao_flash_half_page(page, src);
page += 32;
src += 32;
}
_ao_flash_half_page(page, src);
page += 32;
src += 32;
}
+ ao_flash_lock();
+ ao_arch_release_interrupts();
}
}