Добавлена директория бутлоадера

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:
+}
+