Add bootloader

controller/fw/embed/gen_compile_commands.py

@@ -5,4 +5,4 @@ Import("env")
 env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
 
 # override compilation DB path
-env.Replace(COMPILATIONDB_PATH="compile_commands.json")
+env.Replace(COMPILATIONDB_PATH="compile_commands.json")

controller/fw/embed/hex_compile.py

@@ -0,0 +1,10 @@
+Import("env")
+
+# Custom HEX from ELF
+env.AddPostAction(
+    "$BUILD_DIR/${PROGNAME}.elf",
+    env.VerboseAction(" ".join([
+        "$OBJCOPY", "-O", "ihex", "-R", ".eeprom",
+        "$BUILD_DIR/${PROGNAME}.elf", "$BUILD_DIR/${PROGNAME}.hex"
+    ]), "Building $BUILD_DIR/${PROGNAME}.hex")
+) 

controller/fw/embed/platformio.ini

@@ -18,11 +18,17 @@ upload_protocol = stlink
 debug_tool = stlink
 monitor_speed = 19200
 monitor_parity = N
+
 build_flags = 
 	-DSTM32F446xx
 	-D HAL_CAN_MODULE_ENABLED
 	-D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
+    -Wl,-T"${platformio.packages_dir}/framework-arduinoststm32/variants/STM32F4xx/F446R(C-E)T/ldscript.ld"
+    -Wl,--defsym=LD_FLASH_OFFSET=0x8000
+    -DAPP_OFFSET=0x8000
 lib_deps = 
 	askuric/Simple FOC@^2.3.4
 	pazi88/STM32_CAN@^1.1.2
-extra_scripts = pre:gen_compile_commands.py
+extra_scripts = 
+	post:hex_compile.py
+	pre:gen_compile_commands.py

controller/fw/embed/src/config.cpp

@@ -34,11 +34,11 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
   motor->foc_modulation = FOCModulationType::SpaceVectorPWM;
 
   // PID Configuration
-  motor->PID_velocity.P = 0.75;
-  motor->PID_velocity.I = 20;
-  motor->LPF_velocity.Tf = 0.005;
-  motor->P_angle.P = 0.5;
-  motor->LPF_angle.Tf = 0.001;
+  motor->PID_velocity.P = 0.75f;
+  motor->PID_velocity.I = 20.0f;
+  motor->LPF_velocity.Tf = 0.005f;
+  motor->P_angle.P = 0.5f;
+  motor->LPF_angle.Tf = 0.001f;
 
   // Motor limits
   motor->velocity_limit = 40;  // Speed limit in rad/s (382 rpm)

controller/fw/embed/src/flash.cpp

@@ -145,16 +145,22 @@ uint16_t calc_crc_struct(FLASH_RECORD* res){
 
         /*          from 32 to 8  bit                */
     for(int i = 0;i < 4;i++)
-        arr_res[i + 2] = (uint8_t)(res->value >> i * 4);
+        arr_res[i + 2] = (uint8_t)(res->value >> i * 8);    
 
     crc_res = validate_crc16(arr_res,FLASH_RECORD_SIZE - 2);
     return crc_res;
 }
 
 
+void disable_flash_protection() {
+    HAL_FLASH_Unlock();
+    __HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR);
+    HAL_FLASH_Lock();
+}
 
 /*      read struct from FLASH      */
 void flash_read(uint32_t addr,FLASH_RECORD* ptr){
+    disable_flash_protection();
     uint8_t* flash_ptr = (uint8_t*)addr;
     uint8_t* dest = (uint8_t*)ptr;
     for(int i = 0;i < FLASH_RECORD_SIZE;i++)

controller/fw/embed/src/main.cpp

@@ -63,8 +63,7 @@ volatile uint32_t ipsr_value = 0;
 
   void setup(){
   // Vector table initialization (commented out)
-  // __set_MSP(*(volatile uintф32_t*)0x08008000);
-  // SCB->VTOR = (volatile uint32_t)0x08008000;
+  SCB->VTOR = (uint32_t)0x08008004;
   
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
@@ -78,8 +77,9 @@ volatile uint32_t ipsr_value = 0;
   Can.setBaudRate(1000000);
   // Настройка прерываний CAN
   CAN2->IER |= CAN_IER_FMPIE0;
-
-  flash_rec = load_params();
+  flash_rec = load_params();    //for update write_ptr
+  // write_param(addr_id,39);
+  // flash_rec = load_params();
   
   // Initialize FOC system
   setup_foc(&encoder, &motor, &driver, &current_sense, &command, doMotor);
@@ -87,7 +87,7 @@ volatile uint32_t ipsr_value = 0;
   CAN2->IER |= CAN_IER_FMPIE0 |  // Сообщение в FIFO0
   CAN_IER_FFIE0 |   // FIFO0 full
   CAN_IER_FOVIE0;    // FIFO0 overflow
-  HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
+  // HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0);
   // HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
 
   // Default motor configuration
@@ -101,6 +101,7 @@ volatile uint32_t ipsr_value = 0;
 
 
 void loop() {
+
   __enable_irq();
   foc_step(&motor, &command);
   CAN_message_t msg;
@@ -114,6 +115,7 @@ void loop() {
   /*  If receive data from  CAN */
   if(CAN_GET) {
     listen_can(msg);
+    CAN_GET = false;
   }
 }