stores one float

firmware/cl-step-controller/src/drivers/step_cl.cpp

@@ -46,92 +46,28 @@ void Step_CL::init(void){
     //lut = flash_lut.read();
 }
 
-// das lut / flash stuff, 
-// s/o to mechaduino code for this 
-#define PAGE_SIZE 512 // start_flash_write reports this bit value, use datasheet 25.8.3 to reference 
-const float __attribute__((__aligned__(PAGE_SIZE))) lut[ENCODER_COUNTS] = {};
-uint32_t start_addr = 0x00000000;
-float temp_quad[4];
-uint8_t temp_indice;
+FlashStorage(flash_store, float);
 
-void flash_wait_ready(void){
-    while(NVMCTRL->STATUS.bit.READY == 0);
-}
-
-// erase block at this addr 
-void flash_erase_block(uint32_t *dst){
-    sysError("erasing 0x" + String((uint32_t)dst, HEX));
-    flash_wait_ready();
-    // do 'erase row'
-    NVMCTRL->ADDR.reg = (uint32_t)dst;
-    NVMCTRL->CTRLB.reg = NVMCTRL_CTRLB_CMDEX_KEY | NVMCTRL_CTRLB_CMD_EB;
-    flash_wait_ready();
-}
-
-// writes blocks of four four bit words: i.e. 4 floats per row, 4 uint32, etc 
-// dst address, src address... 
-#define QUAD_WORD (4 * 4)
-void flash_write_words(uint32_t *dst, uint32_t *src, uint32_t n_words){
-    sysError("writing quad to addr: 0x" + String((uint32_t)dst, HEX));
-    // set manuel page write 
-    NVMCTRL->CTRLA.bit.WMODE = NVMCTRL_CTRLA_WMODE_MAN;
-
-    sysError("pbc");
-    // execute page buffer clear 
-    flash_wait_ready();
-    NVMCTRL->CTRLB.reg = NVMCTRL_CTRLB_CMDEX_KEY | NVMCTRL_CTRLB_CMD_PBC;
-    flash_wait_ready();
+void flash_write_init(void){
 
-    // write em ?
-    sysError("writing...");
-    while(n_words > 0){
-        sysError(String(n_words));
-        // more than 4 words left? 
-        uint32_t len = 4 < n_words ? 4 : n_words;
-        // write one quad word into page buffer (is ... the flash address?)
-        flash_wait_ready();
-        sysError("past wait");
-        for(uint32_t i = 0; i < 4; i ++){
-            if(i < len){
-                dst[i] = src[i];
-            } else {
-                //((uint32_t*)dst)[i] = 0xffffffff; // tail ends write to solid 1's 
-            }
-        }
-        // trigger the write 
-        sysError("write: 0x" + String((uint32_t)dst, HEX));
-        delay(100);
-        NVMCTRL->ADDR.reg = (uint32_t)dst;
-        NVMCTRL->CTRLB.reg = NVMCTRL_CTRLB_CMDEX_KEY | NVMCTRL_CTRLB_CMD_WQW;
-        // advance thru quad words 
-        dst += len;
-        src += len;
-        n_words -= len;
-    }
-    sysError("quad complete");
-    delay(10);
 }
 
-// ok, I think I can try this: I keep a row of vals, 4 of 'em, then on wrap, I write 
-// using erase / then write, using the lut as the start, 
-// I'll try to do it once, to start, then read it out... 
-
-void flash_write_init(void){
-    temp_indice = 0;
+void flash_write_value(float val){
+    flash_store.write(val);
 }
 
-void flash_write_value(float val){
-    sysError("flt: " + String(val));
-    temp_quad[temp_indice ++] = val;
-    if(temp_indice > 3){
-        flash_erase_block(&start_addr);
-        flash_write_words(&start_addr, (uint32_t*)(&temp_quad), 4);
-        temp_indice = 0; 
+void Step_CL::print_table(void){
+    for(uint16_t e = 0; e < 4; e ++){
+        float ra = flash_store.read();
+        sysError("e: " + String(e) + " ra: " + String(ra, 4));
+        delay(5);
     }
 }
 
 // the calib routine 
 boolean Step_CL::calibrate(void){
+    flash_write_value(100.0F);
+    return true;
     // (1) first, build a table for 200 full steps w/ encoder averaged values at each step 
     float phase_angle = 0.0F;
     for(uint8_t i = 0; i < 200; i ++){ 
@@ -285,10 +221,3 @@ boolean Step_CL::calibrate(void){
     return true; // went OK 
 }
 
-void Step_CL::print_table(void){
-    for(uint16_t e = 0; e < 4; e ++){
-        float ra = ((float*)start_addr)[e];//lut[e];
-        sysError("e: " + String(e) + " ra: " + String(ra, 4));
-        delay(5);
-    }
-}
\ No newline at end of file

log/cl-step-control-log.md

@@ -5,6 +5,7 @@ With 2x A4950s on the DAC, AS5047P on the encoder, etc.
 ## Do Want 
 
 - magnet alignment print / tool for the glue-in 
+- https://www.youtube.com/watch?v=5x73LjZQ21o 
 
 ## Likely Bugs