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servo/controller/fw/bootloader/Core/Src/main.c

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2025-06-19 01:04:05 +03:00
/* USER CODE BEGIN Header */
/**
******************************************************************************
* @file : main.c
* @brief : Main program body
******************************************************************************
* @attention
*
* Copyright (c) 2025 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "flash.h"
#include "adc.h"
#include "can.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include <stdbool.h>
#include "can_reg.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
/* USER CODE END PTD */
/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */
/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */
/* USER CODE END PM */
/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN PV */
/* USER CODE END PV */
/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
static void MX_NVIC_Init(void);
/* USER CODE BEGIN PFP */
volatile bool fw_update = false;
volatile bool app_valid = false;
volatile uint32_t fw_size = 0;
volatile uint16_t fw_crc = 0;
volatile uint32_t jump;
static FLASH_RECORD *flash_record = {0};
static uint32_t ptr_flash;
volatile uint32_t msg_id;
volatile uint16_t id_x;
volatile uint8_t msg_ch;
/* USER CODE END PFP */
/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
void send_ack(uint8_t status) {
CAN_TxHeaderTypeDef tx_header;
uint8_t tx_data[1] = {status};
uint32_t tx_mailbox;
tx_header.ExtId = ACK_CAN_ID; // id = 0x05
tx_header.IDE = CAN_ID_STD; //standart id
tx_header.RTR = CAN_RTR_DATA; // data frame
tx_header.DLC = 1; // data len = 1 byte
tx_header.TransmitGlobalTime = DISABLE;
//send message
HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(&hcan2, &tx_header, tx_data, &tx_mailbox);
// process errors
if(result != HAL_OK) {
/* TO DO
*
*/
}
}
bool verify_firmware() {
uint16_t calculated_crc = 0;
calculated_crc = validate_crc16((uint8_t*)APP_ADDRESS,fw_size);
return (calculated_crc == fw_crc);
}
void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
msg_id = header->ExtId;
/* 0x697
69 - slave addr
7 || 8 - REG_READ or REG_WRITE */
id_x = (msg_id >> 4) & 0xFFFF; // get addr
msg_ch = msg_id & 0xF; // check cmd
// Check addr
if(id_x == flash_record[addr_id].value) {
switch(msg_ch) {
case BOOT_CAN_ID: // CMD for search boot
if(data[0] == 0x01) {
// firmware size
fw_size = *((uint32_t*)&data[1]);
fw_crc = *((uint16_t*)&data[5]);
ptr_flash = APP_ADDRESS;
send_ack(0x01);
}
break;
case DATA_CAN_ID: // Data packet
if(ptr_flash < (APP_ADDRESS + fw_size)) {
uint8_t aligned_data[8];
memcpy(aligned_data, data, header->DLC); //copy from data to aligned_data
// write to flash
write_flash_page(aligned_data, header->DLC);
ptr_flash += header->DLC;
send_ack(0x02);
}
break;
case BOOT_CAN_END:
if(verify_firmware()) {
send_ack(0xAA);
write_param(firmw, 0); // Reset firmware update
fw_update = false;
HAL_Delay(500);
NVIC_SystemReset();
} else {
send_ack(0x55); // Error
erase_flash_pages(); // Erase error firwmare
}
break;
}
}
}
void jump_to_app() {
__disable_irq();
jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
void (*app_entry)(void);
app_entry = (void (*)(void))jump;
for (uint32_t i = 0; i < 8; i++) {
NVIC->ICPR[i] = 0xFFFFFFFF;
}
__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
// SCB->VTOR = (uint32_t)0x08008004;
app_entry();
}
bool is_app_valid() {
volatile uint32_t* app_vector = (volatile uint32_t*)APP_ADDRESS;
// Check stack pointer
bool sp_valid = (app_vector[0] >= 0x20000000) &&
(app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
// check reset_handler
bool pc_valid = (app_vector[1] >= 0x08000000) &&
(app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
// check two words on reset value
bool not_erased = (app_vector[0] != 0xFFFFFFFF) &&
(app_vector[1] != 0xFFFFFFFF);
return sp_valid && pc_valid && not_erased;
}
/* USER CODE END 0 */
/**
* @brief The application entry point.
* @retval int
*/
int main(void)
{
/* USER CODE BEGIN 1 */
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
GPIOC->ODR &= ~GPIO_ODR_OD11;
GPIOC->ODR |= GPIO_ODR_OD10;
flash_record = load_params();
if(flash_record[firmw].value == UPDATE_FLAG) {
fw_update = true;
for(int i = 0; i < 5;i++){
GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
HAL_Delay(100);
}
// write_param(firmw,0); //reset flasg
erase_flash_pages();
}
else{
// for st-link update, because he doesnt reset flag_update
if(is_app_valid()) jump_to_app(); //firmware exist
else fw_update = true; //firmware doesnt exist, but we in bootloader
}
GPIOC->ODR |= GPIO_ODR_OD10;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* USER CODE BEGIN Init */
/* USER CODE END Init */
/* Configure the system clock */
SystemClock_Config();
/* USER CODE BEGIN SysInit */
/* USER CODE END SysInit */
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_TIM1_Init();
MX_USART1_UART_Init();
MX_SPI2_Init();
MX_TIM3_Init();
MX_ADC2_Init();
MX_TIM5_Init();
MX_CAN2_Init();
/* Initialize interrupts */
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
if(fw_update) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_StatusTypeDef status;
// Check message
if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) > 0) {
status = HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data);
if(status == HAL_OK) {
// check message IDE standart
if(rx_header.IDE == CAN_ID_STD) {
process_can_message(&rx_header, rx_data);
}
}
}
}
}
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None
*/
void SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** Configure the main internal regulator output voltage
*/
__HAL_RCC_PWR_CLK_ENABLE();
__HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
/** Initializes the RCC Oscillators according to the specified parameters
* in the RCC_OscInitTypeDef structure.
*/
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
RCC_OscInitStruct.HSIState = RCC_HSI_ON;
RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
RCC_OscInitStruct.PLL.PLLM = 8;
RCC_OscInitStruct.PLL.PLLN = 180;
RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2;
RCC_OscInitStruct.PLL.PLLQ = 2;
RCC_OscInitStruct.PLL.PLLR = 2;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
{
Error_Handler();
}
/** Activate the Over-Drive mode
*/
if (HAL_PWREx_EnableOverDrive() != HAL_OK)
{
Error_Handler();
}
/** Initializes the CPU, AHB and APB buses clocks
*/
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK)
{
Error_Handler();
}
}
/**
* @brief NVIC Configuration.
* @retval None
*/
static void MX_NVIC_Init(void)
{
/* ADC_IRQn interrupt configuration */
HAL_NVIC_SetPriority(ADC_IRQn, 5, 0);
HAL_NVIC_EnableIRQ(ADC_IRQn);
}
/* USER CODE BEGIN 4 */
/* USER CODE END 4 */
/**
* @brief Period elapsed callback in non blocking mode
* @note This function is called when TIM2 interrupt took place, inside
* HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment
* a global variable "uwTick" used as application time base.
* @param htim : TIM handle
* @retval None
*/
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim)
{
/* USER CODE BEGIN Callback 0 */
/* USER CODE END Callback 0 */
if (htim->Instance == TIM2) {
HAL_IncTick();
}
/* USER CODE BEGIN Callback 1 */
/* USER CODE END Callback 1 */
}
/**
* @brief This function is executed in case of error occurrence.
* @retval None
*/
void Error_Handler(void)
{
/* USER CODE BEGIN Error_Handler_Debug */
/* User can add his own implementation to report the HAL error return state */
__disable_irq();
while (1)
{
}
/* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
* @brief Reports the name of the source file and the source line number
* where the assert_param error has occurred.
* @param file: pointer to the source file name
* @param line: assert_param error line source number
* @retval None
*/
void assert_failed(uint8_t *file, uint32_t line)
{
/* USER CODE BEGIN 6 */
/* User can add his own implementation to report the file name and line number,
ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
/* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
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