Store PID parameters in flash.

program/hardware/flash.c

@@ -11,9 +11,18 @@
     \retval     none
 */
 void flash_write_parameters(void) {
-    unsigned int buffer[2] = {machine_angle_offset, phase_sequence};
+    unsigned int buffer[10] = {machine_angle_offset, phase_sequence, 0x00000000UL, 0x00000000UL,
+                               0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL, 0x00000000UL};
+    buffer[2] = float_to_int32(speed_pid_handler.kp);
+    buffer[3] = float_to_int32(speed_pid_handler.ki);
+    buffer[4] = float_to_int32(speed_pid_handler.kd);
+    buffer[5] = float_to_int32(speed_pid_handler.sum_maximum);
+    buffer[6] = float_to_int32(angle_pid_handler.kp);
+    buffer[7] = float_to_int32(angle_pid_handler.ki);
+    buffer[8] = float_to_int32(angle_pid_handler.kd);
+    buffer[9] = float_to_int32(angle_pid_handler.sum_maximum);
     flash_erase_page();
-    flash_program_word(0x00000000UL, buffer, 2);
+    flash_program_word(0x00000000UL, buffer, 10);
 }
 
 /*!
@@ -25,6 +34,14 @@ void flash_write_parameters(void) {
 void flash_read_parameters(void) {
     machine_angle_offset = flash_read_word(0x00000000UL);
     phase_sequence = flash_read_word(0x00000004UL);
+    speed_pid_handler.kp = int32_to_float(flash_read_word(0x00000008UL));
+    speed_pid_handler.ki = int32_to_float(flash_read_word(0x00000012UL));
+    speed_pid_handler.kd = int32_to_float(flash_read_word(0x00000016UL));
+    speed_pid_handler.sum_maximum = int32_to_float(flash_read_word(0x00000020UL));
+    angle_pid_handler.kp = int32_to_float(flash_read_word(0x00000024UL));
+    angle_pid_handler.ki = int32_to_float(flash_read_word(0x00000028UL));
+    angle_pid_handler.kd = int32_to_float(flash_read_word(0x00000032UL));
+    angle_pid_handler.sum_maximum = int32_to_float(flash_read_word(0x00000036UL));
     if (machine_angle_offset > 4096 || phase_sequence > 1) {
         led_on();
         while (1);