With bootloader
This commit is contained in:
parent
b5ff05bed6
commit
023026987c
8 changed files with 312 additions and 141 deletions
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@ -1,4 +1,9 @@
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#include "flash.h"
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#include <stdbool.h>
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static uint32_t write_ptr = SECTOR_6;
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void flash_unlock(){
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@ -73,16 +78,78 @@ void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
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FLASH->CR &= ~FLASH_CR_PG;
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}
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void flash_write(uint32_t addr, FLASH_RECORD* record){
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uint8_t flash_read_word(uint32_t address){
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// Check if address is valid
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if(address < FLASH_BASE || address > FLASH_END) {
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return 0;
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uint32_t* data = (uint32_t*)record;
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uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
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// Wait if flash is busy
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while(FLASH_BUSY);
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// Check if flash is locked and unlock if needed
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if(FLASH->CR & FLASH_CR_LOCK) {
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flash_unlock();
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}
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// Read byte from flash memory
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return *((volatile uint8_t*)address);
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// Set program bit and write data to flash
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FLASH_32BYTE;
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FLASH->CR |= FLASH_CR_PG;
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for(int i = 0;i < size;i++){
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*(volatile uint32_t*)(addr + i * 4) = data[i];
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}
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// Clear program bit
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FLASH->CR &= ~FLASH_CR_PG;
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flash_lock();
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}
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// Wait if flash
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// Wait if flash
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bool validate_crc(FLASH_RECORD* crc){
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if(crc->crc == 0x6933)
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return true;
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return false;
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}
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/* read struct from FLASH */
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void flash_read(uint32_t addr,FLASH_RECORD* ptr){
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uint32_t* flash_ptr = (uint32_t*)addr;
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uint32_t* dest = (uint32_t*)ptr;
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for (int i = 0; i < FLASH_RECORD_SIZE / 4; i++) {
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dest[i] = flash_ptr[i];
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}
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}
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/* Поиск актуального адреса во флэш памяти */
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FLASH_RECORD load_params(){
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__disable_irq();
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FLASH_RECORD latest = {0};
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FLASH_RECORD res;
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for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
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flash_read(addr,&res);
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if (!validate_crc(&res))
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break;
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else if(res.data_id == addr_id) {
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latest = res;
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}
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}
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__enable_irq();
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return latest;
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}
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/**
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* @brief Записывает страницу данных во флеш-память
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* @param data: Указатель на буфер с данными
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* @param len: Длина данных в байтах (должна быть кратна 4)
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* @retval bool: true - успех, false - ошибка
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*/
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void write_flash_page(const uint8_t* data, uint16_t len) { // Добавлен const
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flash_unlock();
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for (uint16_t i = 0; i < len; i += 4) {
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uint32_t word;
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memcpy(&word, &data[i], 4); // Безопасное копирование
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HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, write_ptr + i, word);
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}
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flash_lock();
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}
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@ -1,31 +1,52 @@
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#ifndef FLASH_H_
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#define FLASH_H_
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#include "stm32f446xx.h"
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#include "hal_conf_extra.h"
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/* for addr in FLASH */
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typedef struct{
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uint32_t write_ptr_now;
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uint16_t crc;
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uint8_t value;
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uint8_t data_id; // data_id = id register of can
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}FLASH_RECORD;
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enum {
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addr_id = 0
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};
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#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
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#define PARAM_COUNT 1 // count data in flash
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#define FLAG_BOOT 0x08060000 // Адрес хранения флага для обновления прошивки
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#define UPDATE_FLAG 0xDEADBEEF // Уникальное 32-битное значение
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#define APP_ADDRESS 0x08004000 // Адрес основной прошивки
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#define BOOT_CAN_ID 0x721 // CAN ID бутлоадера
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#define BOOT_CAN_END 0x722 // CAN ID завершения передачи
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#define DATA_CAN_ID 0x730 // CAN ID данных
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#define MAX_FW_SIZE 0x3FFF // Макс. размер прошивки (256KB)
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// Flash sectors for STM32F407
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#define BOOT 0x08000000 // 16KB - Bootloader
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#define APP_ADDR 0x08004000 // 16KB - Application
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#define SECTOR_2 0x08008000 // 16KB
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#define SECTOR_3 0x0800C000 // 16KB
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#define SECTOR_4 0x08010000 // 64KB
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#define SECTOR_5 0x08020000 // 128KB
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#define SECTOR_6 0x08040000 // 128KB
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#define SECTOR_7 0x08060000 // 128KB
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#define SECTOR_2 0x08008000 // 16KB
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#define SECTOR_3 0x0800C000 // 16KB
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#define SECTOR_4 0x08010000 // 64KB
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#define SECTOR_5 0x08020000 // 128KB
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#define SECTOR_6 0x08040000 // 128KB
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#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
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#define SECTOR_7 0x08060000
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#define FLAG_BOOT (0x08040000 + 4)
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// Flash keys for unlocking flash memory
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#define FLASH_KEY1 0x45670123
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#define FLASH_KEY2 0xCDEF89AB
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//FLASH SET ONE PROGRAMM WORD
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#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
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#define FLASH_32BYTE FLASH->CR |= FLASH_CR_PSIZE | FLASH_CR_PSIZE_0
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// Flash command bits
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#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
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#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
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#define FLASH_32BYTE \
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FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
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// Flash status flags
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#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
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@ -37,10 +58,14 @@ typedef void(*pFunction)(void);
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// Function prototypes
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void flash_unlock(void);
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void flash_lock(void);
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void flash_erase_sector(uint8_t sector);
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void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
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void erase_sector(uint8_t sector);
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void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len);
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void write_flash_page(const uint8_t *data, uint16_t len);
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void flash_read(uint32_t addr,FLASH_RECORD* ptr);
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bool validate_crc(FLASH_RECORD* crc);
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uint8_t flash_read_word(uint32_t address);
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void flash_write(uint32_t addr, FLASH_RECORD* record);
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FLASH_RECORD load_params();
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//bool write_flash_page(const uint8_t* data, uint16_t len);
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#endif /* FLASH_H_ */
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@ -1,110 +1,146 @@
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#include <Arduino.h>
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#include <STM32_CAN.h>
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//#include "CRC32.h"
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#include "flash.h"
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//CRC
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// put function declarations here:
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STM32_CAN Can(CAN2, DEF);
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static CAN_message_t CAN_TX_msg;
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static CAN_message_t CAN_inMsg;
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void buff_data_can(size_t len,size_t len_frame) {
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uint8_t buff[len] = {0};
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uint32_t buff_32[len / 4] = {0};
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uint32_t bias = 0;
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while(Can.read(CAN_inMsg)) {
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for(size_t i = 0; i < len_frame; i++,bias++) {
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buff[bias] = CAN_inMsg.buf[i];
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/* if data from len no end blink led 5 count and stop programm */
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if(bias >= len){
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0;
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for(int i = 0;i < 5;i++){
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GPIOC->ODR ^= GPIO_ODR_OD10;
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HAL_Delay(500);
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}
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return;
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}
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}
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}
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/* from 8byte to 32 byte */
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for(size_t i = 0; i < len / 4; i++) {
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buff_32[i] = (buff[i*4] << 24) |
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(buff[i*4 + 1] << 16) |
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(buff[i*4 + 2] << 8) |
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buff[i*4 + 3];
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}
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/* CRC check */
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/* Work with FLASH */
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FLASH_UNLOCK;
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uint32_t address = (uint32_t)APP_ADDR;
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FLASH_32BYTE;
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for(size_t i = 0; i < len; i++) {
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if(i == 0) {
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flash_erase_sector(1); // Erase sector 1 (APP_ADDR)
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while(FLASH_BUSY);
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}
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flash_program_word(address + (i * 4), buff_32[i],0);
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while(FLASH_BUSY);
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}
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flash_lock();
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}
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volatile bool fw_update = false;
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volatile uint32_t fw_size = 0;
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volatile uint32_t fw_crc = 0;
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volatile uint32_t write_ptr = APP_ADDRESS;
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static FLASH_RECORD flash_record = {0};
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// Прототипы функций
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void jump_to_app();
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void process_can_message(const CAN_message_t &msg);
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void erase_flash_pages();
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bool verify_firmware();
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void send_ack(uint8_t status);
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void setup() {
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Serial.setRx(HARDWARE_SERIAL_RX_PIN);
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Serial.setTx(HARDWARE_SERIAL_TX_PIN);
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Serial.begin(115200);
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Can.begin();
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Can.setBaudRate(1000000);
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// put your setup code here, to run once:
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;;
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GPIOC->ODR |= GPIO_ODR_OD11;
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// Инициализация периферии
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Serial.begin(115200);
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Can.begin(1000000); // 1 Mbps
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Can.setFilter(0,BOOT_CAN_ID,STD);
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// Настройка GPIO
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
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GPIOC->ODR |= GPIO_ODR_OD11;
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// Проверка флага обновления
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/*erase_sector(6);
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flash_program_word(FLAG_BOOT,0xDEADBEEF,0);
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flash_record.data_id = addr_id;
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flash_record.crc = 0x6933;
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flash_record.value = 0x69;
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flash_record.write_ptr_now = SECTOR_6;*/
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flash_write(SECTOR_6, &flash_record);
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flash_record = load_params();
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/* Добавить проверку адреса, т.е во время отправки запроса прошивки по CAN
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мы сохраняем как флаг, так и аддрес устройства к которому будет обращатлься во
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время прошивки */
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if(*(volatile uint32_t*)(FLAG_BOOT) == UPDATE_FLAG) {
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fw_update = true;
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GPIOC->ODR |= GPIO_ODR_OD10; // Индикация обновления
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erase_flash_pages();
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} else {
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jump_to_app();
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}
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}
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void loop() {
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flash_program_word(FLAG_BOOT,1,1);
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for(int i = 0; i < 4; i++ ) {
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GPIOC->ODR ^= GPIO_ODR_OD11;
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HAL_Delay(500);
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}
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if(FLAG_BOOT == 1){
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while (Can.read(CAN_inMsg)){
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// buff_data_can(32000,8);
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}
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/* Go to application */
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volatile uint32_t* appjump = (volatile uint32_t*)APP_ADDR;
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uint32_t msp_start = *(appjump);
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uint32_t reset_handler = *(appjump + 1);
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pFunction start = (pFunction)reset_handler;
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__set_MSP(msp_start);
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start();
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}
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// put your main code here, to run repeatedly:
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if(fw_update) {
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CAN_message_t msg;
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if(Can.read(msg)) {
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process_can_message(msg);
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}
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}
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}
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void process_can_message(const CAN_message_t &msg) {
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switch(msg.id) {
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case BOOT_CAN_ID:
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if(msg.buf[0] == 0x01) { // Старт передачи
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fw_size = *(uint32_t*)&msg.buf[1]; //размер прошивки тип 4 байта
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fw_crc = *(uint32_t*)&msg.buf[5]; //crc
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write_ptr = APP_ADDRESS;
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send_ack(0x01);
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}
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break;
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case DATA_CAN_ID: // Пакет данных
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if(write_ptr < (APP_ADDRESS + fw_size)) {
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write_flash_page((const uint8_t*)msg.buf, msg.len);
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write_ptr += msg.len;
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send_ack(0x02);
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}
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break;
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case BOOT_CAN_END: // Завершение передачи
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if(verify_firmware()) {
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erase_sector(7); // Сброс флага
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send_ack(0xAA);
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NVIC_SystemReset();
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} else {
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send_ack(0x55);
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}
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break;
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}
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}
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void jump_to_app() {
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typedef void (*app_entry_t)(void);
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auto app_entry = (app_entry_t)(*(volatile uint32_t*)(APP_ADDRESS + 4));
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// SCB->VTOR = APP_ADDRESS;
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__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
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app_entry();
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}
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void erase_flash_pages() {
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FLASH_EraseInitTypeDef erase;
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erase.TypeErase = FLASH_TYPEERASE_SECTORS;
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erase.Sector = FLASH_SECTOR_1;
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erase.NbSectors = 5;
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erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;
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uint32_t error;
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flash_unlock();
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HAL_FLASHEx_Erase(&erase, &error);
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flash_lock();
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}
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// CRC16 implementation for STM32
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uint16_t CalculateCRC16(const uint8_t* data, uint32_t length) {
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uint16_t crc = 0xFFFF;
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while (length--) {
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crc ^= (uint16_t)(*data++) << 8;
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for(uint8_t i = 0; i < 8; i++) {
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crc = crc & 0x8000 ? (crc << 1) ^ 0x8005 : crc << 1;
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}
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}
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return crc;
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}
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bool verify_firmware() {
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uint32_t calculated_crc = 0;
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calculated_crc = CalculateCRC16((uint8_t*)fw_crc,fw_size);
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if(calculated_crc != (uint16_t)fw_crc)
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return false;
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// Реализация проверки CRC
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// ...
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// return (calculated_crc == fw_crc);
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return true;
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}
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void send_ack(uint8_t status) {
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CAN_message_t ack;
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ack.id = BOOT_CAN_ID + 2;
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ack.len = 1;
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ack.buf[0] = status;
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Can.write(ack);
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}
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38
controller/fw/embed/bootloader/reg_cah.h
Normal file
38
controller/fw/embed/bootloader/reg_cah.h
Normal file
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@ -0,0 +1,38 @@
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#ifndef REG_CAH_H_
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#define REG_CAH_H_
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#define APP_ADDR 0x0800400 // 16KB - Application
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#define ADDR_VAR 0x8040000
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#define REG_READ 0x99
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#define REG_WRITE 0xA0
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/* Startup ID device */
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#define START_ID 0x00
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/* CAN REGISTER ID */
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#define REG_ID 0x01
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#define REG_BAUDRATE 0x02
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#define REG_MOTOR_POSPID_Kp 0x30
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#define REG_MOTOR_POSPID_Ki 0x31
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#define REG_MOTOR_POSPID_Kd 0x32
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#define REG_MOTOR_VELPID_Kp 0x40
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#define REG_MOTOR_VELPID_Ki 0x41
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#define REG_MOTOR_VELPID_Kd 0x42
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#define REG_MOTOR_IMPPID_Kp 0x50
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||||
#define REG_MOTOR_IMPPID_Kd 0x51
|
||||
|
||||
#define REG_RESET 0x88
|
||||
#define REG_LED_BLINK 0x8B
|
||||
|
||||
#define FOC_STATE 0x60
|
||||
|
||||
#define MOTOR_VELOCITY 0x70
|
||||
#define MOTOR_ENABLED 0x71
|
||||
#define MOTOR_ANGLE 0x72
|
||||
#endif // REG_CAH_H_
|
||||
|
|
@ -10,6 +10,7 @@ typedef struct{
|
|||
uint8_t data_id; // data_id = id register of can
|
||||
uint8_t value;
|
||||
uint16_t crc;
|
||||
uint32_t write_ptr_now;
|
||||
}FLASH_RECORD;
|
||||
enum {
|
||||
addr_id = 0,
|
||||
|
|
@ -29,6 +30,7 @@ kp_id = 2,
|
|||
#define SECTOR_4 0x08010000 // 64KB
|
||||
#define SECTOR_5 0x08020000 // 128KB
|
||||
#define SECTOR_6 0x08040000 // 128KB
|
||||
#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
|
||||
#define SECTOR_7 0x08060000 // 128KB
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -3,10 +3,7 @@
|
|||
|
||||
#define APP_ADDR 0x0800400 // 16KB - Application
|
||||
#define ADDR_VAR 0x8040000
|
||||
#define ADDR_VAR_ID ADDR_VAR
|
||||
#define ADDR_VAR_P (ADDR_VAR + 1)
|
||||
#define ADDR_VAR_I (ADDR_VAR + 2)
|
||||
#define ADDR_VAR_D (ADDR_VAR + 3)
|
||||
|
||||
|
||||
#define REG_READ 0x99
|
||||
#define REG_WRITE 0xA0
|
||||
|
|
|
|||
|
|
@ -165,19 +165,24 @@ void write_param(uint8_t param_id, uint8_t val){
|
|||
__disable_irq();
|
||||
flash_write(write_ptr,¶m_flash);
|
||||
write_ptr += FLASH_RECORD_SIZE;
|
||||
flash_program_word(SECTOR_7 - sizeof(uint32_t),write_ptr,0);
|
||||
// flash_program_word(SECTOR_7 - sizeof(uint32_t),write_ptr,0);
|
||||
}
|
||||
|
||||
FLASH_RECORD* load_params(){
|
||||
__disable_irq();
|
||||
static FLASH_RECORD latest[PARAM_COUNT] = {0};
|
||||
FLASH_RECORD res;
|
||||
for(uint32_t addr = SECTOR_6;addr < SECTOR_7;addr +=FLASH_RECORD_SIZE) {
|
||||
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
|
||||
flash_read(addr,&res);
|
||||
if (validate_crc(&res))
|
||||
if (!validate_crc(&res))
|
||||
break;
|
||||
else{
|
||||
latest[res.data_id] = res;
|
||||
|
||||
write_ptr = addr;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
__enable_irq();
|
||||
return latest;
|
||||
}
|
||||
|
|
@ -103,7 +103,7 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
|
|||
|
||||
void send_velocity() {
|
||||
float current_velocity = motor.shaftVelocity();
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR_ID;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'V';
|
||||
CAN_TX_msg.len = 5;
|
||||
|
|
@ -113,7 +113,7 @@ void send_velocity() {
|
|||
|
||||
void send_angle() {
|
||||
float current_angle = motor.shaftAngle();
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR_ID;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'A';
|
||||
CAN_TX_msg.len = 5;
|
||||
|
|
@ -122,7 +122,7 @@ void send_angle() {
|
|||
}
|
||||
|
||||
void send_motor_enabled() {
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR_ID;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'E';
|
||||
memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.motor_enabled,
|
||||
|
|
@ -131,7 +131,7 @@ void send_motor_enabled() {
|
|||
}
|
||||
|
||||
void send_foc_state() {
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR_ID;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'F';
|
||||
memcpy(&CAN_TX_msg.buf[1], &motor_control_inputs.foc_state,
|
||||
|
|
@ -142,7 +142,7 @@ Can.write(CAN_TX_msg);
|
|||
void send_id() {
|
||||
/* data for reading of firmware */
|
||||
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR_ID;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'I';
|
||||
memcpy(&CAN_TX_msg.buf[0], &id, sizeof(id));
|
||||
|
|
@ -195,9 +195,7 @@ void send_data() {
|
|||
|
||||
|
||||
void listen_can() {
|
||||
flash_rec = load_params();
|
||||
for(int i = 0;i < PARAM_COUNT;i++)
|
||||
flash_buf[i] = flash_rec[i];
|
||||
|
||||
uint8_t reg_id = CAN_inMsg.buf[0]; //reg id
|
||||
if (CAN_inMsg.id == flash_buf[addr_id].value) {
|
||||
if (CAN_inMsg.buf[1] == REG_WRITE) {
|
||||
|
|
@ -316,6 +314,9 @@ void setup() {
|
|||
pEraseInit.Sector = ADDR_VAR; // Начальная страница
|
||||
pEraseInit.NbSectors = 1;
|
||||
pEraseInit.VoltageRange = VOLTAGE_RANGE_3;*/
|
||||
flash_rec = load_params();
|
||||
for(int i = 0;i < PARAM_COUNT;i++)
|
||||
flash_buf[i] = flash_rec[i];
|
||||
}
|
||||
void loop() {
|
||||
foc_step(&motor, &command);
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue