{"id":112931,"date":"2026-10-05T09:10:04","date_gmt":"2026-10-05T01:10:04","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/112931.html"},"modified":"2026-10-05T09:10:04","modified_gmt":"2026-10-05T01:10:04","slug":"%e3%80%90%e5%b5%8c%e5%85%a5%e5%bc%8f%e5%a4%96%e8%ae%be%e7%b2%be%e5%ad%a6%e3%80%91day17%ef%bd%9cflash%ef%bc%9a%e9%a1%b5%e6%93%a6%e5%86%99%e3%80%81%e5%8f%82%e6%95%b0%e4%bf%9d%e5%ad%98%e3%80%81%e6%8e%89","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/112931.html","title":{"rendered":"\u3010\u5d4c\u5165\u5f0f\u5916\u8bbe\u7cbe\u5b66\u3011Day17\uff5cFlash\uff1a\u9875\u64e6\u5199\u3001\u53c2\u6570\u4fdd\u5b58\u3001\u6389\u7535\u5b89\u5168"},"content":{"rendered":"

\u3010\u5d4c\u5165\u5f0f\u5916\u8bbe\u7cbe\u5b66\u3011Day17｜Flash：\u9875\u64e6\u5199\u3001\u53c2\u6570\u4fdd\u5b58\u3001\u6389\u7535\u5b89\u5168<\/h2>\n

\u4eca\u5929\u89e3\u51b3：\u4e3a\u4ec0\u4e48\u4e0d\u80fd\u50cf RAM \u968f\u4fbf\u5199？\u53c2\u6570\u600e\u6837\u5b58\u624d\u6297\u6389\u7535？<\/p>\n

\n

\u76ee\u5f55<\/h3>\n
  • \u95ee\u9898 2. \u539f\u7406 3. \u4ee3\u7801 4. \u8bef\u533a 5. \u81ea\u6d4b 6. \u7b54\u6848<\/li>\n
    \n

    1. \u95ee\u9898<\/h3>\n
      \n
    • \u5b58\u53c2\u6570\u5076\u53d1\u574f<\/li>\n
    • \u5199\u5f97\u5f88\u52e4\u540e\u6765\u6574\u7247\u53d8\u7816<\/li>\n<\/ul>\n
      \n

      2. \u539f\u7406<\/h3>\n

      2.1 \u64e6\u548c\u5199\u662f\u4e24\u56de\u4e8b<\/h4>\n\n\u64cd\u4f5c\u7c92\u5ea6\u610f\u601d<\/tr>\n\n\n\n
      \u64e6<\/td>\n\u9875\/\u6247\u533a<\/td>\n\u6574\u5757\u53d8\u201c\u7a7a\u767d\u201d<\/td>\n<\/tr>\n
      \u5199<\/td>\n\u5b57\/\u534a\u5b57<\/td>\n\u5f80\u7a7a\u767d\u91cc\u5199<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

      \u6539\u4e00\u4e2a\u5b57\u8282，\u5f80\u5f80\u4e5f\u8981\u5148\u64e6\u6574\u9875\u518d\u5199\u56de\u3002<\/p>\n

      2.2 \u5bff\u547d\u6709\u9650<\/h4>\n

      \u6bcf\u5757\u80fd\u64e6\u5199\u7684\u6b21\u6570\u6709\u9650（\u5e38\u89c1\u4e07\u7ea7\u5230\u5341\u4e07\u7ea7，\u770b\u5668\u4ef6）\u3002 \u4e0d\u80fd\u6bcf 10ms \u5b58\u4e00\u6b21 PID\u3002<\/p>\n

      2.3 \u6389\u7535\u5b89\u5168（\u53cc\u4efd A\/B）<\/h4>\n

      A \u9875 \/ B \u9875，\u90fd\u5e26\u201c\u5e8f\u53f7 + \u6821\u9a8c\u201d
      \n\u4fdd\u5b58：\u5199\u5230\u201c\u4e0d\u662f\u5f53\u524d\u6709\u6548\u201d\u7684\u90a3\u4e00\u4efd
      \n\u4e0a\u7535：\u4e24\u4efd\u90fd\u8bfb，\u53d6\u6821\u9a8c\u8fc7\u4e14\u5e8f\u53f7\u5927\u7684<\/p>\n

      \u8fd9\u6837\u5199\u5230\u4e00\u534a\u6389\u7535，\u65e7\u90a3\u4efd\u4ecd\u53ef\u7528\u3002<\/p>\n

      \n

      3. \u4ee3\u7801\u793a\u4f8b<\/h3>\n

      #<\/span>include<\/span> <stdint.h><\/span><\/span>
      \n#<\/span>include<\/span> <stdbool.h><\/span><\/span>
      \n#<\/span>include<\/span> <string.h><\/span><\/span><\/p>\n

      #<\/span>define<\/span> MAGIC<\/span> 0x5041524Du<\/span><\/span><\/span><\/p>\n

      typedef<\/span> struct<\/span> {<\/span>
      \n float<\/span> kp,<\/span> ki,<\/span> kd;<\/span>
      \n}<\/span> par_t<\/span>;<\/span><\/p>\n

      typedef<\/span> struct<\/span> {<\/span>
      \n uint32_t<\/span> magic;<\/span>
      \n uint16_t<\/span> ver;<\/span>
      \n uint16_t<\/span> seq;<\/span>
      \n par_t<\/span> p;<\/span>
      \n uint32_t<\/span> crc;<\/span>
      \n}<\/span> blob_t<\/span>;<\/span><\/p>\n

      \/* \u5e73\u53f0\u76f8\u5173：\u64e6\u9875\u3001\u5199\u3001\u8bfb\u3001CRC *\/<\/span>
      \nvoid<\/span> flash_erase_page<\/span>(<\/span>uint32_t<\/span> page)<\/span>;<\/span>
      \nvoid<\/span> flash_write<\/span>(<\/span>uint32_t<\/span> addr,<\/span> const<\/span> void<\/span> *<\/span>d,<\/span> uint32_t<\/span> n)<\/span>;<\/span>
      \nvoid<\/span> flash_read<\/span>(<\/span>uint32_t<\/span> addr,<\/span> void<\/span> *<\/span>d,<\/span> uint32_t<\/span> n)<\/span>;<\/span>
      \nuint32_t<\/span> page_addr<\/span>(<\/span>uint32_t<\/span> page)<\/span>;<\/span>
      \nuint32_t<\/span> crc32_calc<\/span>(<\/span>const<\/span> uint8_t<\/span> *<\/span>d,<\/span> uint32_t<\/span> n)<\/span>;<\/span><\/p>\n

      static<\/span> void<\/span> seal<\/span>(<\/span>blob_t<\/span> *<\/span>b)<\/span>
      \n{<\/span>
      \n b-><\/span>magic =<\/span> MAGIC;<\/span>
      \n b-><\/span>crc =<\/span> crc32_calc<\/span>(<\/span>(<\/span>const<\/span> uint8_t<\/span> *<\/span>)<\/span>b,<\/span> (<\/span>uint32_t<\/span>)<\/span>(<\/span>sizeof<\/span>(<\/span>*<\/span>b)<\/span> –<\/span> 4u<\/span>)<\/span>)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      static<\/span> bool ok<\/span>(<\/span>const<\/span> blob_t<\/span> *<\/span>b)<\/span>
      \n{<\/span>
      \n return<\/span> b-><\/span>magic ==<\/span> MAGIC &&<\/span>
      \n b-><\/span>crc ==<\/span> crc32_calc<\/span>(<\/span>(<\/span>const<\/span> uint8_t<\/span> *<\/span>)<\/span>b,<\/span> (<\/span>uint32_t<\/span>)<\/span>(<\/span>sizeof<\/span>(<\/span>*<\/span>b)<\/span> –<\/span> 4u<\/span>)<\/span>)<\/span>;<\/span>
      \n}<\/span><\/p>\n

      int<\/span> param_save<\/span>(<\/span>uint16_t<\/span> *<\/span>seq,<\/span> const<\/span> par_t<\/span> *<\/span>in,<\/span> uint32_t<\/span> page)<\/span>
      \n{<\/span>
      \n blob_t<\/span> b;<\/span>
      \n memset<\/span>(<\/span>&<\/span>b,<\/span> 0<\/span>,<\/span> sizeof<\/span>(<\/span>b)<\/span>)<\/span>;<\/span>
      \n b.<\/span>seq =<\/span> (<\/span>uint16_t<\/span>)<\/span>(<\/span>*<\/span>seq +<\/span> 1u<\/span>)<\/span>;<\/span>
      \n b.<\/span>p =<\/span> *<\/span>in;<\/span>
      \n seal<\/span>(<\/span>&<\/span>b)<\/span>;<\/span><\/p>\n

      flash_erase_page<\/span>(<\/span>page)<\/span>;<\/span>
      \n flash_write<\/span>(<\/span>page_addr<\/span>(<\/span>page)<\/span>,<\/span> &<\/span>b,<\/span> sizeof<\/span>(<\/span>b)<\/span>)<\/span>;<\/span>
      \n *<\/span>seq =<\/span> b.<\/span>seq;<\/span>
      \n return<\/span> 0<\/span>;<\/span>
      \n}<\/span><\/p>\n

      bool param_load<\/span>(<\/span>par_t<\/span> *<\/span>out,<\/span> uint16_t<\/span> *<\/span>seq,<\/span> uint32_t<\/span> page_a,<\/span> uint32_t<\/span> page_b)<\/span>
      \n{<\/span>
      \n blob_t<\/span> a,<\/span> b;<\/span>
      \n flash_read<\/span>(<\/span>page_addr<\/span>(<\/span>page_a)<\/span>,<\/span> &<\/span>a,<\/span> sizeof<\/span>(<\/span>a)<\/span>)<\/span>;<\/span>
      \n flash_read<\/span>(<\/span>page_addr<\/span>(<\/span>page_b)<\/span>,<\/span> &<\/span>b,<\/span> sizeof<\/span>(<\/span>b)<\/span>)<\/span>;<\/span><\/p>\n

      if<\/span> (<\/span>ok<\/span>(<\/span>&<\/span>a)<\/span> &&<\/span> ok<\/span>(<\/span>&<\/span>b)<\/span>)<\/span> {<\/span>
      \n const<\/span> blob_t<\/span> *<\/span>sel =<\/span> (<\/span>(<\/span>int16_t<\/span>)<\/span>(<\/span>a.<\/span>seq –<\/span> b.<\/span>seq)<\/span> ><\/span> 0<\/span>)<\/span> ?<\/span> &<\/span>a :<\/span> &<\/span>b;<\/span>
      \n *<\/span>out =<\/span> sel-><\/span>p;<\/span> *<\/span>seq =<\/span> sel-><\/span>seq;<\/span>
      \n return<\/span> true;<\/span>
      \n }<\/span>
      \n if<\/span> (<\/span>ok<\/span>(<\/span>&<\/span>a)<\/span>)<\/span> {<\/span> *<\/span>out =<\/span> a.<\/span>p;<\/span> *<\/span>seq =<\/span> a.<\/span>seq;<\/span> return<\/span> true;<\/span> }<\/span>
      \n if<\/span> (<\/span>ok<\/span>(<\/span>&<\/span>b)<\/span>)<\/span> {<\/span> *<\/span>out =<\/span> b.<\/span>p;<\/span> *<\/span>seq =<\/span> b.<\/span>seq;<\/span> return<\/span> true;<\/span> }<\/span>
      \n return<\/span> false;<\/span>
      \n}<\/span><\/p>\n

      \u4fdd\u5b58\u65f6\u673a：\u6309\u94ae\u201c\u4fdd\u5b58\u53c2\u6570\u201d\u3001\u5173\u673a\u524d\u3001\u6a21\u5f0f\u5207\u6362\u2014\u2014\u4e0d\u8981\u9ad8\u9891\u5b9a\u65f6\u5199\u3002<\/p>\n

      \n

      4. \u5e38\u89c1\u8bef\u533a<\/h3>\n\n\u8bef\u533a\u6b63\u89e3<\/tr>\n\n\n\n\n\n
      Flash \u5f53 EEPROM \u968f\u4fbf\u6539<\/td>\n\u8981\u64e6\u5199\u7b56\u7565\u548c\u5bff\u547d\u610f\u8bc6<\/td>\n<\/tr>\n
      \u53ea\u5b58\u4e00\u4efd<\/td>\n\u6389\u7535\u53ef\u80fd\u534a\u65b0\u534a\u65e7<\/td>\n<\/tr>\n
      \u4e0d\u52a0\u6821\u9a8c<\/td>\n\u574f\u6570\u636e\u5f53\u53c2\u6570\u7528<\/td>\n<\/tr>\n
      \u8fd0\u884c\u4e2d\u9891\u7e41\u5199<\/td>\n\u5bff\u547d\u548c\u6389\u7535\u98ce\u9669\u90fd\u5927<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n
      \n

      5. \u81ea\u6d4b<\/h3>\n
    • \u53cc\u4efd A\/B \u7684\u597d\u5904？<\/li>\n
    • \u4e3a\u4ec0\u4e48\u4e0d\u80fd\u6bcf\u5708\u90fd\u5b58 PID？<\/li>\n
      \n

      6. \u7b54\u6848<\/h3>\n
    • \u5199\u6302\u4e86\u8fd8\u6709\u65e7\u6709\u6548\u6570\u636e；\u53d6\u201c\u6821\u9a8c\u8fc7\u4e14\u66f4\u65b0\u201d\u7684\u90a3\u4efd\u3002<\/li>\n
    • \u5bff\u547d\u4e0d\u591f，\u4e14\u6389\u7535\u65f6\u5bb9\u6613\u5199\u574f；\u5e94\u5728\u660e\u786e\u201c\u4fdd\u5b58\u201d\u65f6\u523b\u5199\u3002<\/li>\n
      \n

      \u4f5c\u8005：shuifanyu \u6807\u7b7e：Flash \u6389\u7535 \u53c2\u6570\u5b58\u50a8<\/p>\n","protected":false},"excerpt":{"rendered":"

      \u3010\u5d4c\u5165\u5f0f\u5916\u8bbe\u7cbe\u5b66\u3011Day17｜Flash：\u9875\u64e6\u5199\u3001\u53c2\u6570\u4fdd\u5b58\u3001\u6389\u7535\u5b89\u5168 \u4eca\u5929\u89e3\u51b3：\u4e3a\u4ec0\u4e48\u4e0d\u80fd\u50cf RAM \u968f\u4fbf\u5199？\u53c2\u6570\u600e\u6837\u5b58\u624d\u6297\u6389\u7535？ \u76ee\u5f55
      \n\u95ee\u9898 2. \u539f\u7406 3. \u4ee3\u7801 4. \u8bef\u533a 5. \u81ea\u6d4b 6. \u7b54\u6848 1. \u95ee\u9898
      \n\u5b58\u53c2\u6570\u5076\u53d1\u574f\u5199\u5f97\u5f88\u52e4\u540e\u6765\u6574\u7247\u53d8\u7816 2. \u539f\u7406
      \n2.1 \u64e6\u548c\u5199\u662f\u4e24\u56de\u4e8b
      \n\u64cd\u4f5c\u7c92\u5ea6\u610f\u601d\u64e6\u9875\/\u6247\u533a\u6574\u5757\u53d8\u201c\u7a7a\u767d\u201d\u5199\u5b57\/\u534a\u5b57\u5f80\u7a7a\u767d\u91cc\u5199
      \n\u6539\u4e00\u4e2a\u5b57\u8282，\u5f80\u5f80\u4e5f\u8981\u5148\u64e6\u6574\u9875\u518d\u5199\u56de\u3002
      \n2.<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[11820,174,58,87,270,61],"topic":[],"class_list":["post-112931","post","type-post","status-publish","format-standard","hentry","category-server","tag-atomgit","tag-c","tag-linux","tag-87","tag-270","tag-61"],"yoast_head":"\n\u3010\u5d4c\u5165\u5f0f\u5916\u8bbe\u7cbe\u5b66\u3011Day17\uff5cFlash\uff1a\u9875\u64e6\u5199\u3001\u53c2\u6570\u4fdd\u5b58\u3001\u6389\u7535\u5b89\u5168 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/112931.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"\u3010\u5d4c\u5165\u5f0f\u5916\u8bbe\u7cbe\u5b66\u3011Day17\uff5cFlash\uff1a\u9875\u64e6\u5199\u3001\u53c2\u6570\u4fdd\u5b58\u3001\u6389\u7535\u5b89\u5168 - 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