feat(VL53L4CD): 支持透过玻璃串扰补偿、串口校准命令与校准数据Flash存储

2026-09-07 00:29:41 +08:00
parent ef37553b18
commit ec412b1ffd
13 changed files with 966 additions and 48 deletions
@@ -0,0 +1,137 @@
+/**
+ * @file calib_store.c
+ * @brief VL53L4CD 校准数据 Flash 持久化存储实现
+ * @details 校准记录保存在主 Flash 的最后一页（1KB）。页地址根据上电检测到的
+ *          Flash 容量（16K/32K/64K）动态计算，同一份固件可适配不同容量器件：
+ *            16K: 0x0800 3C00    32K: 0x0800 7C00    64K: 0x0800 FC00
+ *          记录为 16 字节（2 个双字），带魔数、版本与累加和校验；
+ *          空白 Flash 全 0xFF，不会误判为有效记录。
+ *          GD32E230 页擦除为 1KB，编程以 64 位双字为单位。
+ */
+#include "gd32e23x.h"
+#include "calib_store.h"
+#include "board_config.h"
+#include "gd32e23x_fmc.h"
+#include "uart.h"
+#include <string.h>
+
+/** 校准记录魔数，"CVL4" 的 ASCII 小端编码 */
+#define CALIB_RECORD_MAGIC        0x344C5643U
+#define CALIB_RECORD_VERSION      1U
+#define CALIB_RECORD_SIZE         16U
+
+typedef struct {
+    uint32_t magic;       /**< 魔数，用于识别有效记录 */
+    uint16_t version;     /**< 记录格式版本 */
+    uint16_t flags;       /**< 保留标志位 */
+    int16_t  offset_mm;   /**< 偏移校准值，单位 mm */
+    uint16_t xtalk_kcps;  /**< 串扰校准值，单位 kcps */
+    uint16_t checksum;    /**< 前 12 字节累加和 */
+    uint16_t pad;         /**< 填充到 16 字节 */
+} calib_record_t;
+
+/**
+ * @brief   计算校准记录所在页的起始地址（Flash 最后一页）
+ * @retval   uint32_t 页起始地址
+ */
+static uint32_t calib_page_address(void)
+{
+    uint32_t size_kb = get_flash_size();
+
+    if (size_kb == 0U) {
+        size_kb = 16U; /* 读取异常时按最小容量处理 */
+    }
+    return 0x08000000U + (size_kb * 1024U) - 1024U;
+}
+
+/**
+ * @brief   计算记录前 12 字节的 16 位累加和
+ * @param[in]  rec: 校准记录指针
+ * @retval   uint16_t 累加和
+ */
+static uint16_t calib_checksum(const calib_record_t *rec)
+{
+    const uint8_t *p = (const uint8_t *)rec;
+    uint16_t sum = 0U;
+    uint8_t i;
+
+    for (i = 0U; i < 12U; i++) {
+        sum += p[i];
+    }
+    return sum;
+}
+
+bool calib_store_load(int16_t *offset_mm, uint16_t *xtalk_kcps)
+{
+    const calib_record_t *rec = (const calib_record_t *)(uintptr_t)calib_page_address();
+
+    if (offset_mm == NULL || xtalk_kcps == NULL) {
+        return false;
+    }
+    if (rec->magic != CALIB_RECORD_MAGIC || rec->version != CALIB_RECORD_VERSION) {
+        return false;
+    }
+    if (rec->checksum != calib_checksum(rec)) {
+        return false;
+    }
+
+    *offset_mm = rec->offset_mm;
+    *xtalk_kcps = rec->xtalk_kcps;
+    return true;
+}
+
+bool calib_store_save(int16_t offset_mm, uint16_t xtalk_kcps)
+{
+    calib_record_t rec;
+    uint64_t data[2];
+    uint32_t page_addr;
+    fmc_state_enum fmc_state;
+
+    rec.magic = CALIB_RECORD_MAGIC;
+    rec.version = CALIB_RECORD_VERSION;
+    rec.flags = 0U;
+    rec.offset_mm = offset_mm;
+    rec.xtalk_kcps = xtalk_kcps;
+    rec.checksum = 0U;
+    rec.pad = 0U;
+    rec.checksum = calib_checksum(&rec);
+
+    /* GD32E230 按双字（64 位）编程，直接按内存布局拆成两个 64 位 */
+    memcpy(&data[0], &rec, 8U);
+    memcpy(&data[1], (const uint8_t *)&rec + 8U, 8U);
+
+    page_addr = calib_page_address();
+
+    /* Flash 操作期间总线停顿，暂停串口接收避免丢字节 */
+    uart_rx_irq_pause();
+    fmc_unlock();
+
+    fmc_state = fmc_page_erase(page_addr);
+    if (fmc_state == FMC_READY) {
+        fmc_state = fmc_doubleword_program(page_addr, data[0]);
+        if (fmc_state == FMC_READY) {
+            fmc_state = fmc_doubleword_program(page_addr + 8U, data[1]);
+        }
+    }
+
+    fmc_lock();
+    uart_rx_irq_resume();
+
+    return (fmc_state == FMC_READY);
+}
+
+bool calib_store_erase(void)
+{
+    uint32_t page_addr = calib_page_address();
+    fmc_state_enum fmc_state;
+
+    uart_rx_irq_pause();
+    fmc_unlock();
+
+    fmc_state = fmc_page_erase(page_addr);
+
+    fmc_lock();
+    uart_rx_irq_resume();
+
+    return (fmc_state == FMC_READY);
+}