From e61c79df34707115e7504f7babd4ac7a7d40683b Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Wed, 14 Oct 2020 16:19:01 -0400
Subject: [PATCH] ll op write
---
.../src/drivers/step_cl.cpp | 113 ++++--------------
.../src/utils/FlashStorage.cpp | 8 --
log/cl-step-control-log.md | 2 +
3 files changed, 27 insertions(+), 96 deletions(-)
diff --git a/firmware/cl-step-controller/src/drivers/step_cl.cpp b/firmware/cl-step-controller/src/drivers/step_cl.cpp
index 873dcaa..1eaccb3 100644
--- a/firmware/cl-step-controller/src/drivers/step_cl.cpp
+++ b/firmware/cl-step-controller/src/drivers/step_cl.cpp
@@ -50,117 +50,54 @@ void Step_CL::init(void){
// #define BYTES_PER_PAGE 512
// #define FLOATS_PER_PAGE 128
// #define PAGES_PER_BLOCK 16 // for 8192 bytes / block
-#define LUT_SIZE 2048
//const float __attribute__((__aligned__(BYTES_PER_PAGE))) lut[LUT_SIZE] = {};
//const void* page_ptr;
-//static float buffer[FLOATS_PER_PAGE];
-//static uint32_t bi;
-//FlashClass flashClass((const uint8_t*)lut, BYTES_PER_PAGE); // try w/ constructor values ?
+#define BYTES_PER_BLOCK 8192
+#define FLOATS_PER_BLOCK 2048
-typedef struct {
- float f[LUT_SIZE];
-} flts;
+const float __attribute__((__aligned__(8192))) lut[16834] = {};
+FlashClass flashClass((const uint8_t*)lut);
-typedef struct {
- float f[ENCODER_COUNTS];
-} flts_14b;
+// write mechanics
+const void* block_ptr;
-flts readbuf;
+// write buffer
+static float buffer[FLOATS_PER_BLOCK];
-flts inbuf;
-uint32_t bi = 0;
-uint32_t pi = 0;
+uint32_t bfi = 0; // buffer indice
+uint32_t bli = 0; // block indice
-FlashStorage(flash_storage_0, flts);
-FlashStorage(flash_storage_1, flts);
-FlashStorage(flash_storage_2, flts);
-FlashStorage(flash_storage_3, flts);
-FlashStorage(flash_storage_4, flts);
-FlashStorage(flash_storage_5, flts);
-FlashStorage(flash_storage_6, flts);
-FlashStorage(flash_storage_7, flts);
+//FlashStorage(flash_storage, flts);
void flash_write_init(void){
- bi = 0;
- pi = 0;
+ block_ptr = (const uint8_t*) lut;
+ bfi = 0;
+ bli = 0;
}
void flash_write_page(void){
+ sysError("erasing");
+ flashClass.erase(block_ptr, BYTES_PER_BLOCK);
sysError("writing");
- switch(pi){
- case 0:
- flash_storage_0.write(inbuf);
- sysError("wrote brick 0");
- break;
- case 1:
- flash_storage_1.write(inbuf);
- sysError("wrote brick 1");
- break;
- case 2:
- flash_storage_2.write(inbuf);
- sysError("wrote brick 2");
- break;
- case 3:
- flash_storage_3.write(inbuf);
- sysError("wrote brick 3");
- break;
- case 4:
- flash_storage_4.write(inbuf);
- sysError("wrote brick 4");
- break;
- case 5:
- flash_storage_5.write(inbuf);
- sysError("wrote brick 5");
- break;
- case 6:
- flash_storage_6.write(inbuf);
- sysError("wrote brick 6");
- break;
- case 7:
- flash_storage_7.write(inbuf);
- sysError("wrote brick 7");
- break;
- default:
- sysError("oob page write");
- break;
- } // end switch
- pi ++;
+ flashClass.write(block_ptr, (const uint8_t*)buffer, BYTES_PER_BLOCK);
delay(100);
}
void flash_write_value(float val){
- inbuf.f[bi ++] = val;
- if(bi >= LUT_SIZE){
+ buffer[bfi ++] = val;
+ if(bfi >= FLOATS_PER_BLOCK){
flash_write_page();
- bi = 0;
+ bfi = 0;
}
}
void Step_CL::print_table(void){
- sysError("reading 0");
- inbuf = flash_storage_0.read();
- for(uint16_t e = 0; e < LUT_SIZE; e ++){
- sysError(String(inbuf.f[e]));
- delay(2);
- }
- sysError("reading 1");
- inbuf = flash_storage_1.read();
- for(uint16_t e = 0; e < LUT_SIZE; e ++){
- sysError(String(inbuf.f[e]));
- delay(2);
- }
- sysError("reading 2");
- inbuf = flash_storage_2.read();
- for(uint16_t e = 0; e < LUT_SIZE; e ++){
- sysError(String(inbuf.f[e]));
- delay(5);
- }
- sysError("reading 3");
- inbuf = flash_storage_3.read();
- for(uint16_t e = 0; e < LUT_SIZE; e ++){
- sysError(String(inbuf.f[e]));
+ sysError("reading from lut");
+ for(uint32_t i = 0; i < ENCODER_COUNTS; i ++){
+ float ra = lut[i];
+ sysError(String(ra));
delay(5);
}
}
@@ -168,7 +105,7 @@ void Step_CL::print_table(void){
// the calib routine
boolean Step_CL::calibrate(void){
flash_write_init();
- for(uint32_t i = 0; i < ENCODER_COUNTS; i ++){
+ for(uint32_t i = 0; i < FLOATS_PER_BLOCK; i ++){
flash_write_value(i * 1.1F);
}
return true;
diff --git a/firmware/cl-step-controller/src/utils/FlashStorage.cpp b/firmware/cl-step-controller/src/utils/FlashStorage.cpp
index 2e21948..7108db4 100644
--- a/firmware/cl-step-controller/src/utils/FlashStorage.cpp
+++ b/firmware/cl-step-controller/src/utils/FlashStorage.cpp
@@ -47,18 +47,15 @@ static inline uint32_t read_unaligned_uint32(const void *data){
// Invalidate all CMCC cache entries if CMCC cache is enabled.
static void invalidate_CMCC_cache(){
- /*
if (CMCC->SR.bit.CSTS) { // CR -> SR
CMCC->CTRL.bit.CEN = 0;
while (CMCC->SR.bit.CSTS) {}
CMCC->MAINT0.bit.INVALL = 1;
CMCC->CTRL.bit.CEN = 1;
}
- */
}
void FlashClass::write(const volatile void *flash_ptr, const void *data, uint32_t size){
- /*
// Calculate data boundaries
size = (size + 3) / 4;
volatile uint32_t *dst_addr = (volatile uint32_t *)flash_ptr;
@@ -97,11 +94,9 @@ void FlashClass::write(const volatile void *flash_ptr, const void *data, uint32_
NVMCTRL->CTRLA.bit.CACHEDIS0 = original_CACHEDIS0;
NVMCTRL->CTRLA.bit.CACHEDIS1 = original_CACHEDIS1;
}
- */
}
void FlashClass::erase(const volatile void *flash_ptr, uint32_t size){
- /*
const uint8_t *ptr = (const uint8_t *)flash_ptr;
while (size > ROW_SIZE) {
erase(ptr);
@@ -109,17 +104,14 @@ void FlashClass::erase(const volatile void *flash_ptr, uint32_t size){
size -= ROW_SIZE;
}
erase(ptr);
- */
}
void FlashClass::erase(const volatile void *flash_ptr){
- /*
sysError("erase 0x" + String((uint32_t)flash_ptr));
NVMCTRL->ADDR.reg = ((uint32_t)flash_ptr);
NVMCTRL->CTRLB.reg = NVMCTRL_CTRLB_CMDEX_KEY | NVMCTRL_CTRLB_CMD_EB;
while (!NVMCTRL->INTFLAG.bit.DONE) { }
invalidate_CMCC_cache();
- */
}
void FlashClass::read(const volatile void *flash_ptr, void *data, uint32_t size){
diff --git a/log/cl-step-control-log.md b/log/cl-step-control-log.md
index 1c38f59..2985501 100644
--- a/log/cl-step-control-log.md
+++ b/log/cl-step-control-log.md
@@ -897,5 +897,7 @@ Suspect ROW_SIZE something is up,
OK this is crazy, I have every fn in the class commented out, and the thing still locks up.
+So, tried my way around that, I have honestly no idea what is going on here. I'm going to try writing from the base class again.
+
- neil suggests watching the power rails, flash req
- nuclear option is asking neil to chat w/ microchip contacts
\ No newline at end of file
--
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