Добавлена директория бутлоадера

controller/fw/embed/bootloader/flash.cpp

@@ -0,0 +1,88 @@
+#include "flash.h"
+
+void flash_unlock(){
+
+    // Check if flash is locked
+    if(!(FLASH->CR & FLASH_CR_LOCK)) {
+        return; // Already unlocked
+    }
+
+    // Write flash key sequence to unlock
+    FLASH->KEYR = 0x45670123;  // First key
+    FLASH->KEYR = 0xCDEF89AB;  // Second key
+
+}
+
+void flash_lock() {
+    if(FLASH->CR & FLASH_CR_LOCK) {
+        return; // Already locked
+    }
+    FLASH->CR |= FLASH_CR_LOCK; // Lock flash memory
+}
+
+void erase_sector(uint8_t sector){
+    
+    // Wait if flash is busy
+    while(FLASH_BUSY);
+
+    // Check if flash is locked and unlock if needed
+    if(FLASH->CR & FLASH_CR_LOCK) {
+        flash_unlock();
+    }
+
+    // Set sector erase bit and sector number
+    FLASH->CR |= FLASH_CR_SER;
+    FLASH->CR &= ~FLASH_CR_SNB;
+    FLASH->CR |= (sector << FLASH_CR_SNB_Pos) & FLASH_CR_SNB_Msk;
+
+    // Start erase
+    FLASH->CR |= FLASH_CR_STRT;
+
+    // Wait for erase to complete
+    while(FLASH_BUSY);
+    
+    // Clear sector erase bit
+    FLASH->CR &= ~FLASH_CR_SER;
+
+}
+
+void flash_program_word(uint32_t address,uint32_t data,uint32_t byte_len){
+
+    // Wait if flash is busy
+    while(FLASH_BUSY);
+    // Check if flash is locked and unlock if needed
+    if(FLASH->CR & FLASH_CR_LOCK) {
+        flash_unlock();
+    }
+
+    // Set program bit 32bit programm size and  Write data to address
+    if(byte_len == 1) {
+        FLASH_8BYTE;
+        FLASH->CR |= FLASH_CR_PG;
+        *(volatile uint8_t*)address = (uint8_t)data;
+    } else {
+        FLASH_32BYTE;
+        FLASH->CR |= FLASH_CR_PG;
+        *(volatile uint32_t*)address = data;
+    }
+
+    // Wait for programming to complete
+    while(FLASH_BUSY);
+
+    // Clear program bit
+    FLASH->CR &= ~FLASH_CR_PG;
+
+}
+
+uint8_t flash_read_word(uint32_t address){
+   
+    // Check if address is valid
+    if(address < FLASH_BASE || address > FLASH_END) {
+        return 0;
+    }
+
+    // Read byte from flash memory
+    return *((volatile uint8_t*)address);
+
+}
+    // Wait if flash

controller/fw/embed/bootloader/flash.h

@@ -0,0 +1,46 @@
+#ifndef FLASH_H_
+#define FLASH_H_
+#include "stm32f446xx.h"
+
+// Flash sectors for STM32F407
+#define BOOT         0x08000000  // 16KB - Bootloader
+#define APP_ADDR     0x08004000  // 16KB - Application
+#define SECTOR_2     0x08008000  // 16KB
+#define SECTOR_3     0x0800C000  // 16KB
+#define SECTOR_4     0x08010000  // 64KB
+#define SECTOR_5     0x08020000  // 128KB
+#define SECTOR_6     0x08040000  // 128KB
+#define SECTOR_7     0x08060000  // 128KB
+
+
+#define FLAG_BOOT    (0x08040000 + 4)
+// Flash keys for unlocking flash memory
+#define FLASH_KEY1   0x45670123
+#define FLASH_KEY2   0xCDEF89AB
+
+//FLASH SET ONE PROGRAMM WORD
+#define FLASH_8BYTE  FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
+#define FLASH_32BYTE FLASH->CR |= FLASH_CR_PSIZE | FLASH_CR_PSIZE_0
+
+// Flash command bits
+#define FLASH_LOCK   FLASH->CR |= FLASH_CR_LOCK
+#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
+
+
+// Flash status flags
+#define FLASH_BUSY   (FLASH->SR & FLASH_SR_BSY)
+#define FLASH_ERROR  (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
+
+//for bootloader    
+typedef void(*pFunction)(void); 
+
+// Function prototypes
+void flash_unlock(void);
+void flash_lock(void);
+void flash_erase_sector(uint8_t sector);
+void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
+uint8_t flash_read_word(uint32_t address);
+
+
+
+#endif /* FLASH_H_ */

controller/fw/embed/bootloader/main.cpp

@@ -0,0 +1,110 @@
+#include <Arduino.h>
+#include <STM32_CAN.h>
+//#include "CRC32.h"
+#include "flash.h"
+
+//CRC
+
+
+
+// put function declarations here:
+STM32_CAN Can(CAN2, DEF);
+static CAN_message_t CAN_TX_msg;
+static CAN_message_t CAN_inMsg;
+
+void buff_data_can(size_t len,size_t len_frame) {
+  uint8_t buff[len] = {0};
+  uint32_t buff_32[len / 4] = {0};
+  uint32_t bias = 0;
+  while(Can.read(CAN_inMsg)) {
+    for(size_t i = 0; i < len_frame; i++,bias++) {
+      buff[bias] = CAN_inMsg.buf[i];
+      /*  if data from len no end blink led 5 count and stop programm */
+      if(bias >= len){
+        RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+        GPIOC->MODER |= GPIO_MODER_MODE10_0;
+        for(int i = 0;i < 5;i++){
+          GPIOC->ODR ^= GPIO_ODR_OD10;
+          HAL_Delay(500);
+        }
+        return;
+      }
+  }
+}
+  /*      from 8byte to 32 byte      */
+
+for(size_t i = 0; i < len / 4; i++) {
+    buff_32[i] = (buff[i*4] << 24) | 
+                 (buff[i*4 + 1] << 16) | 
+                 (buff[i*4 + 2] << 8) | 
+                 buff[i*4 + 3];
+}
+
+/*        CRC check         */
+
+
+  /*      Work with FLASH         */
+
+
+FLASH_UNLOCK;
+uint32_t address = (uint32_t)APP_ADDR;
+FLASH_32BYTE;
+for(size_t i = 0; i < len; i++) {
+    if(i == 0) {
+        flash_erase_sector(1); // Erase sector 1 (APP_ADDR)
+        while(FLASH_BUSY);
+    }
+    
+    flash_program_word(address + (i * 4), buff_32[i],0);
+    
+    while(FLASH_BUSY);
+}
+
+
+
+flash_lock();
+
+}
+
+
+
+
+void setup() {
+  Serial.setRx(HARDWARE_SERIAL_RX_PIN);
+  Serial.setTx(HARDWARE_SERIAL_TX_PIN);
+  Serial.begin(115200);
+  Can.begin();
+  Can.setBaudRate(1000000);
+  // put your setup code here, to run once:
+  RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
+  GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;;
+  GPIOC->ODR |= GPIO_ODR_OD11;
+}
+
+void loop() {
+  flash_program_word(FLAG_BOOT,1,1);
+  for(int i = 0; i < 4; i++ ) {
+    GPIOC->ODR ^= GPIO_ODR_OD11;
+    HAL_Delay(500);
+  }
+  if(FLAG_BOOT == 1){
+ while (Can.read(CAN_inMsg)){
+
+  // buff_data_can(32000,8);
+ }
+
+
+
+        /*   Go to application   */
+volatile uint32_t* appjump = (volatile uint32_t*)APP_ADDR;
+
+uint32_t msp_start = *(appjump);
+uint32_t reset_handler = *(appjump + 1);
+
+pFunction start = (pFunction)reset_handler;
+__set_MSP(msp_start);
+start();
+  }
+  // put your main code here, to run repeatedly:
+}
+