Merge branch '39-flash-programm' into 'main'
Resolve "Реализовать в виде параметра запись адреса устройства на CAN-шине" Closes #39 and #32 See merge request robossembler/servo!28
This commit is contained in:
commit
744029d348
11 changed files with 887 additions and 57 deletions
|
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@ -2,19 +2,69 @@
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|||
|
||||
## Для разработки
|
||||
|
||||
- [Установить platformio](#introduction)
|
||||
- Установить platformio
|
||||
|
||||
```bash
|
||||
pip install -U platformio
|
||||
```
|
||||
- [Скомпилировать проект](#build_project)
|
||||
|
||||
- Скомпилировать проект
|
||||
|
||||
```bash
|
||||
platformio run --environment robotroller_reborn
|
||||
```
|
||||
- [Загрузить прошивку](#upload_project)
|
||||
|
||||
- Загрузить прошивку
|
||||
|
||||
```bash
|
||||
platformio run --target upload --environment robotroller_reborn
|
||||
```
|
||||
- [Открыть монитор UART](#monitor_port)
|
||||
|
||||
- Открыть монитор UART
|
||||
|
||||
```bash
|
||||
platformio device monitor
|
||||
```
|
||||
|
||||
## Загрузчик (Bootloader)
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||||
|
||||
В директории `bootloader` расположен код загрузчика, который позволяет загрузить/обновить управляющую программу контроллера.
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|
||||
## Инструкция по загрузке ПО в контроллер по CAN-шине
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1. Сместить в линкере прошивки её адрес. В файле с расширением .ld замените область FLASH на 0x08008000 и занимаемую память на 480K
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пример (FLASH.ld и RAM.ld):
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|
||||
```cpp
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MEMORY
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{
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RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
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FLASH (rx) : ORIGIN = 0x8008000, LENGTH = 480K
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||||
}
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||||
```
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||||
|
||||
2. Cкомпилировать в `hex` формате
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||||
3. Запустить в терминале
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||||
|
||||
```bash
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||||
python3 boot_test.py <адрес на hex файл> <адрес устройства>
|
||||
```
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||||
Пример:
|
||||
```bash
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python3 boot_test.py my_hex 0
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```
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4. После завершения процесса прошивки микроконтроллер автоматически перезагрузится и запустится загруженная программа, минуя загрузчик.
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|
||||
Бтулоадер запустится только в том случае, если по адресу 0x08060000 находится ключ DEADBEEF. При первой прошивке стартовый адрес = 0
|
||||
|
||||
## Запись CAN ID в контроллер
|
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|
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Запись происходит в основной прошщивке, вызывается регистр записи, после чего REG_ID c указанным адресом.
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Пример:
|
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```
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msg_id: <адрес устройства>
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CAN.buff[0] : REG_WRITE
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Can.buff[1] : REG_ID
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Can.buff[2] : <новый адрес устройства>
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```
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|
||||
|
|
|
|||
9
controller/fw/embed/compile_bootloader.py
Normal file
9
controller/fw/embed/compile_bootloader.py
Normal file
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|
@ -0,0 +1,9 @@
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|||
import os
|
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Import("env")
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||||
|
||||
|
||||
# include toolchain paths
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||||
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
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|
||||
# override compilation DB path
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||||
env.Replace(COMPILATIONDB_PATH="compile_commands.json")
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||||
|
|
@ -1,8 +1,20 @@
|
|||
import os
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||||
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")
|
||||
)
|
||||
|
||||
|
||||
# include toolchain paths
|
||||
env.Replace(COMPILATIONDB_INCLUDE_TOOLCHAIN=True)
|
||||
|
||||
# override compilation DB path
|
||||
env.Replace(COMPILATIONDB_PATH="compile_commands.json")
|
||||
|
||||
|
|
|
|||
72
controller/fw/embed/include/flash.h
Normal file
72
controller/fw/embed/include/flash.h
Normal file
|
|
@ -0,0 +1,72 @@
|
|||
#ifndef FLASH_H_
|
||||
#define FLASH_H_
|
||||
#include "stm32f446xx.h"
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|
||||
|
||||
|
||||
|
||||
/* for addr in FLASH */
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||||
typedef struct{
|
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uint8_t data_id; // data_id = id register of can
|
||||
uint8_t value;
|
||||
uint16_t crc;
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uint32_t write_ptr_now;
|
||||
}FLASH_RECORD;
|
||||
enum {
|
||||
addr_id = 0,
|
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foc_id = 1,
|
||||
kp_id = 2,
|
||||
ki_id = 3,
|
||||
kd_id = 4
|
||||
};
|
||||
|
||||
#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
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#define PARAM_COUNT 3 // count data in flash
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|
||||
// Flash sectors for STM32F407
|
||||
|
||||
#define SECTOR_2 0x08008000 // 16KB
|
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#define SECTOR_3 0x0800C000 // 16KB
|
||||
#define SECTOR_4 0x08010000 // 64KB
|
||||
#define SECTOR_5 0x08020000 // 128KB
|
||||
#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 // 128KB
|
||||
|
||||
|
||||
#define FLAG_BOOT (0x08040000 + 4)
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// Flash keys for unlocking flash memory
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#define BYTE32 0
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#define BYTE8 1
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#define UPDATE_FLAG 0xDEADBEEF // Уникальное 32-битное значение
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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 \
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FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
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||||
|
||||
// Flash command bits
|
||||
#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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||||
|
||||
|
||||
// Flash status flags
|
||||
#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
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||||
#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
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||||
|
||||
//for bootloader
|
||||
typedef void(*pFunction)(void);
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||||
|
||||
// Function prototypes
|
||||
void flash_unlock(void);
|
||||
void flash_lock(void);
|
||||
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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uint8_t flash_read_word(uint32_t address);
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||||
void write_param(uint8_t param_id, uint8_t val);
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FLASH_RECORD* load_params();
|
||||
void compact_page();
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||||
void flash_read(uint32_t addr,FLASH_RECORD* ptr);
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||||
bool validate_crc(FLASH_RECORD* crc);
|
||||
void flash_write(uint32_t addr, FLASH_RECORD* record);
|
||||
|
||||
#endif /* FLASH_H_ */
|
||||
38
controller/fw/embed/include/reg_cah.h
Normal file
38
controller/fw/embed/include/reg_cah.h
Normal file
|
|
@ -0,0 +1,38 @@
|
|||
#ifndef REG_CAH_H_
|
||||
#define REG_CAH_H_
|
||||
|
||||
#define APP_ADDR 0x0800400 // 16KB - Application
|
||||
#define ADDR_VAR 0x8040000
|
||||
|
||||
|
||||
#define REG_READ 0x99
|
||||
#define REG_WRITE 0xA0
|
||||
|
||||
|
||||
/* Startup ID device */
|
||||
#define START_ID 0x00
|
||||
|
||||
/* CAN REGISTER ID */
|
||||
#define REG_ID 0x01
|
||||
#define REG_BAUDRATE 0x02
|
||||
|
||||
#define REG_MOTOR_POSPID_Kp 0x30
|
||||
#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
|
||||
|
||||
#define REG_MOTOR_IMPPID_Kp 0x50
|
||||
#define REG_MOTOR_IMPPID_Kd 0x51
|
||||
|
||||
#define REG_RESET 0x88
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||||
#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_
|
||||
116
controller/fw/embed/mylink.ld
Normal file
116
controller/fw/embed/mylink.ld
Normal file
|
|
@ -0,0 +1,116 @@
|
|||
/*
|
||||
* Линкер-скрипт для STM32F446RETx (512K FLASH, 128K RAM)
|
||||
* Смещение FLASH: 0x08008000 (первые 32K под загрузчик)
|
||||
*/
|
||||
|
||||
/* Точка входа */
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||||
ENTRY(Reset_Handler)
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||||
|
||||
/* Конец стека (адрес начала стека = конец RAM) */
|
||||
_estack = ORIGIN(RAM) + LENGTH(RAM);
|
||||
|
||||
/* Минимальные размеры кучи и стека */
|
||||
_Min_Heap_Size = 0x1000; /* 4 КБ */
|
||||
_Min_Stack_Size = 0x2000; /* 8 КБ */
|
||||
|
||||
/* Распределение памяти */
|
||||
MEMORY {
|
||||
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
FLASH (rx) : ORIGIN = 0x08008000, LENGTH = 384K # Для STM32F446 (512K - 32K)
|
||||
}
|
||||
|
||||
/* Секции */
|
||||
SECTIONS {
|
||||
/* Векторы прерываний (должны быть первыми!) */
|
||||
.isr_vector : {
|
||||
. = ALIGN(4);
|
||||
KEEP(*(.isr_vector)) /* Секция векторов */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* Программный код и константы */
|
||||
.text : {
|
||||
. = ALIGN(4);
|
||||
*(.text) /* Код */
|
||||
*(.text*) /* Код (включая C++) */
|
||||
*(.glue_7) /* ARM/Thumb glue */
|
||||
*(.glue_7t) /* Thumb/ARM glue */
|
||||
*(.eh_frame)
|
||||
|
||||
KEEP(*(.init)) /* Конструкторы */
|
||||
KEEP(*(.fini)) /* Деструкторы */
|
||||
|
||||
. = ALIGN(4);
|
||||
_etext = .; /* Конец кода */
|
||||
} >FLASH
|
||||
|
||||
/* Константы (только для чтения) */
|
||||
.rodata : {
|
||||
. = ALIGN(4);
|
||||
*(.rodata) /* Константы */
|
||||
*(.rodata*) /* Константы (включая строки) */
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* Таблицы для C++ (исключения, RTTI) */
|
||||
.ARM.extab : {
|
||||
. = ALIGN(4);
|
||||
*(.ARM.extab* .gnu.linkonce.armextab.*)
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
.ARM.exidx : {
|
||||
. = ALIGN(4);
|
||||
__exidx_start = .;
|
||||
*(.ARM.exidx*)
|
||||
__exidx_end = .;
|
||||
. = ALIGN(4);
|
||||
} >FLASH
|
||||
|
||||
/* Инициализированные данные (копируются в RAM при старте) */
|
||||
_sidata = LOADADDR(.data); /* Адрес данных во FLASH */
|
||||
|
||||
.data : {
|
||||
. = ALIGN(4);
|
||||
_sdata = .; /* Начало данных в RAM */
|
||||
*(.data) /* Инициализированные переменные */
|
||||
*(.data*) /* Инициализированные переменные (C++) */
|
||||
*(.RamFunc) /* Функции в RAM */
|
||||
*(.RamFunc*) /* Функции в RAM (C++) */
|
||||
. = ALIGN(4);
|
||||
_edata = .; /* Конец данных в RAM */
|
||||
} >RAM AT> FLASH /* Физически хранятся во FLASH */
|
||||
|
||||
/* Неинициализированные данные (BSS) */
|
||||
.bss : {
|
||||
. = ALIGN(4);
|
||||
_sbss = .; /* Начало BSS */
|
||||
__bss_start__ = _sbss;
|
||||
*(.bss) /* BSS переменные */
|
||||
*(.bss*) /* BSS переменные (C++) */
|
||||
*(COMMON) /* Общие переменные */
|
||||
. = ALIGN(4);
|
||||
_ebss = .; /* Конец BSS */
|
||||
__bss_end__ = _ebss;
|
||||
} >RAM
|
||||
|
||||
/* Куча и стек (резервируем место) */
|
||||
._user_heap_stack : {
|
||||
. = ALIGN(8);
|
||||
PROVIDE(end = .);
|
||||
PROVIDE(_end = .);
|
||||
. = . + _Min_Heap_Size;
|
||||
. = . + _Min_Stack_Size;
|
||||
. = ALIGN(8);
|
||||
} >RAM
|
||||
|
||||
/* Удаление ненужных секций из стандартных библиотек */
|
||||
/DISCARD/ : {
|
||||
libc.a (*)
|
||||
libm.a (*)
|
||||
libgcc.a (*)
|
||||
}
|
||||
|
||||
/* Атрибуты ARM */
|
||||
.ARM.attributes 0 : { *(.ARM.attributes) }
|
||||
}
|
||||
|
|
@ -14,6 +14,8 @@
|
|||
platform = ststm32
|
||||
board = genericSTM32F446RE
|
||||
framework = arduino
|
||||
#board_build.ldscript = mylink.ld
|
||||
#board_upload.offset_address = 0x08008000
|
||||
upload_protocol = stlink
|
||||
debug_tool = stlink
|
||||
monitor_speed = 19200
|
||||
|
|
@ -25,4 +27,7 @@ build_flags =
|
|||
lib_deps =
|
||||
askuric/Simple FOC@^2.3.4
|
||||
pazi88/STM32_CAN@^1.1.2
|
||||
|
||||
extra_scripts = pre:gen_compile_commands.py
|
||||
|
||||
|
||||
|
|
|
|||
188
controller/fw/embed/src/flash.cpp
Normal file
188
controller/fw/embed/src/flash.cpp
Normal file
|
|
@ -0,0 +1,188 @@
|
|||
#include "flash.h"
|
||||
#include <stdbool.h>
|
||||
#include "hal_conf_extra.h"
|
||||
|
||||
static uint32_t write_ptr = SECTOR_6;
|
||||
|
||||
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;
|
||||
|
||||
}
|
||||
void flash_write(uint32_t addr, FLASH_RECORD* record){
|
||||
|
||||
uint32_t* data = (uint32_t*)record;
|
||||
uint32_t size = FLASH_RECORD_SIZE / 4; //count words in struct
|
||||
// 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 and write data to flash
|
||||
FLASH_32BYTE;
|
||||
FLASH->CR |= FLASH_CR_PG;
|
||||
|
||||
for(int i = 0;i < size;i++){
|
||||
*(volatile uint32_t*)addr = data[i];
|
||||
}
|
||||
|
||||
// Clear program bit
|
||||
FLASH->CR &= ~FLASH_CR_PG;
|
||||
flash_lock();
|
||||
}
|
||||
|
||||
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
|
||||
|
||||
|
||||
bool validate_crc(FLASH_RECORD* crc){
|
||||
if(crc->crc == 6933)
|
||||
return true;
|
||||
return false;
|
||||
}
|
||||
/* read struct from FLASH */
|
||||
void flash_read(uint32_t addr,FLASH_RECORD* ptr){
|
||||
uint8_t* flash_ptr = (uint8_t*)addr;
|
||||
uint8_t* dest = (uint8_t*)ptr;
|
||||
for(int i = 0;i < FLASH_RECORD_SIZE;i++)
|
||||
dest[i] = flash_ptr[i];
|
||||
}
|
||||
|
||||
void compact_page(){
|
||||
FLASH_RECORD latest[PARAM_COUNT] = {0};
|
||||
for(int i = (uint32_t)SECTOR_6;i < (uint32_t)SECTOR_7;i += FLASH_RECORD_SIZE) {
|
||||
FLASH_RECORD rec;
|
||||
flash_read(i,&rec);
|
||||
|
||||
if (validate_crc(&rec)){
|
||||
latest[rec.data_id] = rec;
|
||||
}
|
||||
}
|
||||
erase_sector(6); //clean sector 6
|
||||
write_ptr = (uint32_t)SECTOR_6; //go to start sector 6
|
||||
for(int i = 0; i < PARAM_COUNT;i++) {
|
||||
if(latest[i].data_id != 0xFF){
|
||||
flash_write((uint32_t)write_ptr,&latest[i]);
|
||||
write_ptr += FLASH_RECORD_SIZE;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
void write_param(uint8_t param_id, uint8_t val){
|
||||
FLASH_RECORD param_flash = {param_id,val,6933};
|
||||
|
||||
/* Exit data from FLASH */
|
||||
if (write_ptr + FLASH_RECORD_SIZE >= SECTOR_7)
|
||||
compact_page();
|
||||
|
||||
// Проверка выравнивания адреса
|
||||
if (write_ptr % 4 != 0)
|
||||
write_ptr += (4 - (write_ptr % 4)); // Выравнивание до 4 байт
|
||||
__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_RECORD* load_params(){
|
||||
__disable_irq();
|
||||
static FLASH_RECORD latest[PARAM_COUNT] = {0};
|
||||
FLASH_RECORD res;
|
||||
for(uint32_t addr = SECTOR_6;addr < SECTOR_6_END;addr +=FLASH_RECORD_SIZE) {
|
||||
flash_read(addr,&res);
|
||||
if (!validate_crc(&res))
|
||||
break;
|
||||
else{
|
||||
latest[res.data_id] = res;
|
||||
write_ptr = addr;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
__enable_irq();
|
||||
return latest;
|
||||
}
|
||||
|
|
@ -1,5 +1,6 @@
|
|||
// clang-format off
|
||||
#include <Arduino.h>
|
||||
#include "Arduino.h"
|
||||
#include "stm32f446xx.h"
|
||||
#include <SimpleFOC.h>
|
||||
#include <STM32_CAN.h>
|
||||
#include <AS5045.h>
|
||||
|
|
@ -11,9 +12,27 @@
|
|||
#include "wiring_analog.h"
|
||||
#include "wiring_constants.h"
|
||||
// clang-format on
|
||||
#include "reg_cah.h"
|
||||
#include "flash.h"
|
||||
|
||||
|
||||
void SysTick_Handler(void) {
|
||||
HAL_IncTick();
|
||||
}
|
||||
|
||||
|
||||
STM32_CAN Can(CAN2, DEF);
|
||||
/* for FLASH */
|
||||
uint32_t flash_flag;
|
||||
uint8_t flag_can = 0;
|
||||
uint32_t flash_error;
|
||||
FLASH_EraseInitTypeDef pEraseInit;
|
||||
uint32_t SectorError;
|
||||
|
||||
|
||||
|
||||
static FLASH_RECORD* flash_rec;
|
||||
static FLASH_RECORD flash_buf[PARAM_COUNT];
|
||||
static CAN_message_t CAN_TX_msg;
|
||||
static CAN_message_t CAN_inMsg;
|
||||
|
||||
|
|
@ -34,6 +53,7 @@ struct MotorControlInputs {
|
|||
float target_angle = 0.0;
|
||||
float target_velocity = 0.0;
|
||||
bool motor_enabled = false;
|
||||
bool foc_state = false;
|
||||
};
|
||||
|
||||
MotorControlInputs motor_control_inputs;
|
||||
|
|
@ -44,6 +64,10 @@ void doMotor(char *cmd) {
|
|||
delayMicroseconds(2);
|
||||
}
|
||||
|
||||
void CAN2_RX0_IRQHandler() {
|
||||
// Пустая функция, но прерывание не приведет к Default Handler
|
||||
}
|
||||
|
||||
void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
|
||||
DRV8313Driver *driver, LowsideCurrentSense *current_sense,
|
||||
Commander *commander, CommandCallback callback) {
|
||||
|
|
@ -85,7 +109,8 @@ void setup_foc(MagneticSensorAS5045 *encoder, BLDCMotor *motor,
|
|||
|
||||
void send_velocity() {
|
||||
float current_velocity = motor.shaftVelocity();
|
||||
CAN_TX_msg.id = 1;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'V';
|
||||
CAN_TX_msg.len = 5;
|
||||
memcpy(&CAN_TX_msg.buf[1], ¤t_velocity, sizeof(current_velocity));
|
||||
|
|
@ -94,7 +119,8 @@ void send_velocity() {
|
|||
|
||||
void send_angle() {
|
||||
float current_angle = motor.shaftAngle();
|
||||
CAN_TX_msg.id = 1;
|
||||
uint8_t id = *(volatile uint8_t*)ADDR_VAR;
|
||||
CAN_TX_msg.id = id;
|
||||
CAN_TX_msg.buf[0] = 'A';
|
||||
CAN_TX_msg.len = 5;
|
||||
memcpy(&CAN_TX_msg.buf[1], ¤t_angle, sizeof(current_angle));
|
||||
|
|
@ -102,46 +128,114 @@ void send_angle() {
|
|||
}
|
||||
|
||||
void send_motor_enabled() {
|
||||
CAN_TX_msg.id = 1;
|
||||
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,
|
||||
sizeof(motor_control_inputs.motor_enabled));
|
||||
Can.write(CAN_TX_msg);
|
||||
}
|
||||
|
||||
void send_data() {
|
||||
send_velocity();
|
||||
send_angle();
|
||||
send_motor_enabled();
|
||||
// read_temperature();
|
||||
digitalWrite(PC11, !digitalRead(PC11));
|
||||
void send_foc_state() {
|
||||
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,
|
||||
sizeof(motor_control_inputs.foc_state));
|
||||
Can.write(CAN_TX_msg);
|
||||
}
|
||||
|
||||
void read_can_step() {
|
||||
char flag = CAN_inMsg.buf[0];
|
||||
if (flag == 'V') {
|
||||
motor.enable();
|
||||
memcpy(&motor_control_inputs.target_velocity, &CAN_inMsg.buf[1],
|
||||
sizeof(motor_control_inputs.target_velocity));
|
||||
} else if (flag == 'A') {
|
||||
motor.enable();
|
||||
memcpy(&motor_control_inputs.target_angle, &CAN_inMsg.buf[1],
|
||||
sizeof(motor_control_inputs.target_angle));
|
||||
} else if (flag == 'E') {
|
||||
bool enable_flag = CAN_inMsg.buf[1];
|
||||
if (enable_flag == 1) {
|
||||
memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[1],
|
||||
sizeof(motor_control_inputs.motor_enabled));
|
||||
motor.enable();
|
||||
} else if (enable_flag == 0) {
|
||||
memcpy(&motor_control_inputs.motor_enabled, &CAN_inMsg.buf[1],
|
||||
sizeof(motor_control_inputs.motor_enabled));
|
||||
motor.disable();
|
||||
void send_id() {
|
||||
/* data for reading of firmware */
|
||||
|
||||
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));
|
||||
Can.write(CAN_TX_msg);
|
||||
}
|
||||
|
||||
void setup_id(uint8_t my_id) {
|
||||
write_param(addr_id,my_id);
|
||||
send_id();
|
||||
}
|
||||
|
||||
|
||||
|
||||
void send_data() {
|
||||
// send_velocity();
|
||||
// send_angle();
|
||||
// send_motor_enabled();
|
||||
// read_temperature();
|
||||
// GPIOC->ODR ^= GPIO_ODR_OD11;
|
||||
}
|
||||
|
||||
void listen_can() {
|
||||
|
||||
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) {
|
||||
switch (reg_id) {
|
||||
case REG_ID:
|
||||
/* setup new id */
|
||||
setup_id(CAN_inMsg.buf[2]);
|
||||
break;
|
||||
|
||||
case REG_LED_BLINK:
|
||||
for (int i = 0; i < 10; i++) {
|
||||
GPIOC->ODR ^= GPIO_ODR_OD10;
|
||||
HAL_Delay(100);
|
||||
}
|
||||
break;
|
||||
|
||||
case MOTOR_ENABLED:
|
||||
if (CAN_inMsg.buf[2] == 1) {
|
||||
motor.enable();
|
||||
motor_control_inputs.motor_enabled = 1;
|
||||
} else {
|
||||
motor.disable();
|
||||
motor_control_inputs.motor_enabled = 0;
|
||||
}
|
||||
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
} else if (CAN_inMsg.buf[1] == REG_READ) {
|
||||
switch (reg_id) {
|
||||
case REG_ID:
|
||||
send_id();
|
||||
break;
|
||||
case MOTOR_VELOCITY:
|
||||
send_velocity();
|
||||
break;
|
||||
|
||||
case MOTOR_ANGLE:
|
||||
send_angle();
|
||||
break;
|
||||
|
||||
case MOTOR_ENABLED:
|
||||
send_motor_enabled();
|
||||
break;
|
||||
|
||||
case FOC_STATE:
|
||||
send_foc_state();
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
digitalWrite(PC10, !digitalRead(PC10));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
volatile uint32_t ipsr_value = 0;
|
||||
|
||||
|
||||
void foc_step(BLDCMotor *motor, Commander *commander) {
|
||||
if (motor_control_inputs.target_velocity != 0 ||
|
||||
motor->controller == MotionControlType::velocity) {
|
||||
|
|
@ -163,28 +257,59 @@ void foc_step(BLDCMotor *motor, Commander *commander) {
|
|||
commander->run();
|
||||
}
|
||||
|
||||
void setup() {
|
||||
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
|
||||
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
|
||||
Serial.begin(115200);
|
||||
// setup led pin
|
||||
pinMode(PC11, OUTPUT);
|
||||
pinMode(PC10, OUTPUT);
|
||||
// Setup thermal sensor pin
|
||||
// pinMode(TH1, INPUT_ANALOG);
|
||||
Can.begin();
|
||||
Can.setBaudRate(1000000);
|
||||
TIM_TypeDef *Instance = TIM2;
|
||||
HardwareTimer *SendTimer = new HardwareTimer(Instance);
|
||||
SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
|
||||
SendTimer->attachInterrupt(send_data);
|
||||
SendTimer->resume();
|
||||
setup_foc(&encoder, &motor, &driver, ¤t_sense, &command, doMotor);
|
||||
}
|
||||
|
||||
|
||||
|
||||
void setup(){
|
||||
/* bias for vector int */
|
||||
// __set_MSP(*(volatile uint32_t*)0x08008000);
|
||||
// SCB->VTOR = (volatile uint32_t)0x08008000;
|
||||
|
||||
GPIOC->MODER &= ~(GPIO_MODER_MODE10_Msk | GPIO_MODER_MODE11_Msk); // Сброс битов режима
|
||||
GPIOC->MODER |= (GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0); // Установка режима выхода (01)
|
||||
|
||||
// Устанавливаем состояние выводов
|
||||
GPIOC->ODR &= ~GPIO_ODR_OD10;
|
||||
GPIOC->ODR |= GPIO_ODR_OD11;
|
||||
Serial.setRx(HARDWARE_SERIAL_RX_PIN);
|
||||
Serial.setTx(HARDWARE_SERIAL_TX_PIN);
|
||||
Serial.begin(115200);
|
||||
__HAL_RCC_CAN2_CLK_ENABLE();
|
||||
__HAL_RCC_GPIOB_CLK_ENABLE(); // Для CAN2 пинов PB12 (CAN2_RX), PB13 (CAN2_TX)
|
||||
|
||||
// Setup thermal sensor pin
|
||||
// pinMode(TH1, INPUT_ANALOG);
|
||||
Can.begin();
|
||||
Can.setBaudRate(1000000);
|
||||
TIM_TypeDef *Instance = TIM2;
|
||||
HardwareTimer *SendTimer = new HardwareTimer(Instance);
|
||||
// SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
|
||||
// SendTimer->attachInterrupt(send_data);
|
||||
// SendTimer->resume();
|
||||
setup_foc(&encoder, &motor, &driver, ¤t_sense, &command, doMotor);
|
||||
|
||||
// HAL_NVIC_EnableIRQ(CAN2_RX0_IRQn);
|
||||
// HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 1, 0); // Низкий приоритет
|
||||
/* Настройка параметров стирания */
|
||||
/*pEraseInit.TypeErase = TYPEERASE_SECTORS; // Стирание страниц
|
||||
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];
|
||||
|
||||
HAL_NVIC_SetPriority(CAN2_RX0_IRQn, 14, 0); // Низкий приоритет
|
||||
HAL_NVIC_SetPriority(TIM2_IRQn, 14, 0); // Низкий приоритет
|
||||
}
|
||||
|
||||
void loop() {
|
||||
foc_step(&motor, &command);
|
||||
while (Can.read(CAN_inMsg)) {
|
||||
read_can_step();
|
||||
}
|
||||
foc_step(&motor, &command);
|
||||
CAN_message_t msg;
|
||||
GPIOC->ODR ^= GPIO_ODR_OD11;
|
||||
HAL_Delay(500);
|
||||
// while (Can.read(msg)) {
|
||||
// listen_can();
|
||||
// }
|
||||
}
|
||||
|
||||
|
|
|
|||
142
controller/fw/embed/test/python_test_boot.py
Normal file
142
controller/fw/embed/test/python_test_boot.py
Normal file
|
|
@ -0,0 +1,142 @@
|
|||
import can
|
||||
import sys
|
||||
import time
|
||||
from intelhex import IntelHex
|
||||
from crc import Calculator, Crc16
|
||||
# Конфигурация
|
||||
CAN_CHANNEL = 'socketcan'
|
||||
CAN_INTERFACE = 'can0'
|
||||
CAN_BITRATE = 1000000
|
||||
#ch =int(input("Введите id устройства:"))
|
||||
ch = int(sys.argv[2])
|
||||
BOOT_CAN_ID = (ch * 16) + 1
|
||||
DATA_CAN_ID = (ch * 16) + 3
|
||||
BOOT_CAN_END = (ch * 16) + 2
|
||||
ACK_CAN_ID = 0x05
|
||||
|
||||
#конфиг для crc16 ibm
|
||||
|
||||
|
||||
|
||||
def debug_print(msg):
|
||||
print(f"[DEBUG] {msg}")
|
||||
|
||||
def calculate_crc16_modbus(data: bytes) -> int:
|
||||
crc = 0xFFFF
|
||||
for byte in data:
|
||||
crc ^= byte
|
||||
for _ in range(8):
|
||||
if crc & 0x0001:
|
||||
crc = (crc >> 1) ^ 0xA001
|
||||
else:
|
||||
crc >>= 1
|
||||
return crc
|
||||
|
||||
def send_firmware(hex_file):
|
||||
try:
|
||||
debug_print("Инициализация CAN...")
|
||||
bus = can.interface.Bus(
|
||||
channel=CAN_INTERFACE,
|
||||
bustype=CAN_CHANNEL,
|
||||
bitrate=CAN_BITRATE
|
||||
)
|
||||
|
||||
debug_print("Чтение HEX-файла...")
|
||||
ih = IntelHex(hex_file)
|
||||
binary_data = ih.tobinstr() # Исправлено на tobinstr()
|
||||
fw_size = len(binary_data)
|
||||
debug_print(f"Размер прошивки: {fw_size} байт")
|
||||
|
||||
# Расчет CRC
|
||||
debug_print("Расчёт CRC...")
|
||||
calculator = Calculator(Crc16.IBM)
|
||||
fw_crc = calculate_crc16_modbus(binary_data)
|
||||
debug_print(f"CRC: 0x{fw_crc:04X}")
|
||||
|
||||
# Отправка START
|
||||
start_data = bytearray([0x01])
|
||||
start_data += fw_size.to_bytes(4, 'little')
|
||||
start_data += fw_crc.to_bytes(2, 'little')
|
||||
|
||||
debug_print(f"START: {list(start_data)}")
|
||||
start_msg = can.Message(
|
||||
arbitration_id=BOOT_CAN_ID,
|
||||
data=bytes(start_data),
|
||||
is_extended_id=False
|
||||
)
|
||||
|
||||
try:
|
||||
bus.send(start_msg)
|
||||
except can.CanError as e:
|
||||
debug_print(f"Ошибка отправки START: {str(e)}")
|
||||
return
|
||||
|
||||
# Ожидание ACK
|
||||
debug_print("Ожидание ACK...")
|
||||
ack = wait_for_ack(bus)
|
||||
if not ack:
|
||||
debug_print("Таймаут ACK START")
|
||||
return
|
||||
debug_print(f"Получен ACK: {list(ack.data)}")
|
||||
|
||||
# Отправка данных
|
||||
packet_size = 8
|
||||
for i in range(0, len(binary_data), packet_size):
|
||||
chunk = binary_data[i:i+packet_size]
|
||||
# Дополнение до 8 байт
|
||||
if len(chunk) < 8:
|
||||
chunk += b'\xFF' * (8 - len(chunk))
|
||||
|
||||
debug_print(f"Пакет {i//8}: {list(chunk)}")
|
||||
data_msg = can.Message(
|
||||
arbitration_id=DATA_CAN_ID,
|
||||
data=chunk,
|
||||
is_extended_id=False
|
||||
)
|
||||
|
||||
try:
|
||||
bus.send(data_msg)
|
||||
except can.CanError as e:
|
||||
debug_print(f"Ошибка отправки данных: {str(e)}")
|
||||
return
|
||||
|
||||
ack = wait_for_ack(bus)
|
||||
if not ack:
|
||||
debug_print("Таймаут ACK DATA")
|
||||
return
|
||||
|
||||
# Финал
|
||||
debug_print("Отправка FINISH...")
|
||||
finish_msg = can.Message(
|
||||
arbitration_id=BOOT_CAN_END,
|
||||
data=bytes([0xAA]),
|
||||
is_extended_id=False
|
||||
)
|
||||
bus.send(finish_msg)
|
||||
|
||||
ack = wait_for_ack(bus, timeout=3)
|
||||
if ack and ack.data[0] == 0xAA:
|
||||
debug_print("Прошивка подтверждена!")
|
||||
else:
|
||||
debug_print("Ошибка верификации!")
|
||||
|
||||
except Exception as e:
|
||||
debug_print(f"Критическая ошибка: {str(e)}")
|
||||
finally:
|
||||
bus.shutdown()
|
||||
|
||||
def wait_for_ack(bus, timeout=1.0):
|
||||
start_time = time.time()
|
||||
while time.time() - start_time < timeout:
|
||||
msg = bus.recv(timeout=0) # Неблокирующий режим
|
||||
if msg and msg.arbitration_id == ACK_CAN_ID:
|
||||
return msg
|
||||
return None
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
if len(sys.argv) != 3:
|
||||
print("Использование: sudo python3 can_flasher.py firmware.hex")
|
||||
sys.exit(1)
|
||||
|
||||
send_firmware(sys.argv[1])
|
||||
73
controller/fw/embed/test/python_test_id.py
Normal file
73
controller/fw/embed/test/python_test_id.py
Normal file
|
|
@ -0,0 +1,73 @@
|
|||
import can
|
||||
import time
|
||||
|
||||
def send_write_read_requests():
|
||||
try:
|
||||
bus = can.interface.Bus(channel='can0', bustype='socketcan')
|
||||
|
||||
# Конфигурация сообщений (ЗАПОЛНИТЕ ВАШИ ЗНАЧЕНИЯ)
|
||||
write_msg = {
|
||||
'arbitration_id': 0x01, # CAN ID для записи
|
||||
'data': [0x27, 0xA0, 0xFF, 0x00], # Данные для записи (4 байта)
|
||||
'description': "Установка id устройства"
|
||||
}
|
||||
|
||||
read_msg = {
|
||||
'arbitration_id': 0x01, # CAN ID для чтения
|
||||
'data': [0xFF,0x99], # Адрес новый + команда запроса данных
|
||||
'description': "Запрос id устройства",
|
||||
'response_id': 0xFF, # Ожидаемый ID ответа
|
||||
'timeout': 1.0 # Таймаут ожидания ответа (сек)
|
||||
}
|
||||
|
||||
# 1. Отправка команды записи
|
||||
print("Отправка команды записи...")
|
||||
msg = can.Message(
|
||||
arbitration_id=write_msg['arbitration_id'],
|
||||
data=write_msg['data'],
|
||||
is_extended_id=False
|
||||
)
|
||||
bus.send(msg)
|
||||
print(f"Запись: ID={hex(msg.arbitration_id)}, Данные={list(msg.data)}")
|
||||
|
||||
# Ждем обработки команды устройством
|
||||
time.sleep(2.0)
|
||||
|
||||
# 2. Отправка запроса чтения и ожидание ответа
|
||||
print("\nОтправка запроса чтения...")
|
||||
msg = can.Message(
|
||||
arbitration_id=read_msg['arbitration_id'],
|
||||
data=read_msg['data'],
|
||||
is_extended_id=False
|
||||
)
|
||||
bus.send(msg)
|
||||
print(f"Чтение: ID={hex(msg.arbitration_id)}, Команда={list(msg.data)}")
|
||||
|
||||
# Ожидаем ответа
|
||||
start_time = time.time()
|
||||
response_received = False
|
||||
|
||||
print("\nОжидание ответа...")
|
||||
while (time.time() - start_time) < read_msg['timeout']:
|
||||
response = bus.recv(timeout=0.1)
|
||||
|
||||
if response and response.arbitration_id == read_msg['response_id']:
|
||||
print(f"\nПолучен ответ: ID={hex(response.arbitration_id)}")
|
||||
print(f"Данные: {list(response.data)}")
|
||||
print(f"Длина: {response.dlc} байт")
|
||||
response_received = True
|
||||
break
|
||||
|
||||
if not response_received:
|
||||
print("\nОшибка: ответ не получен в течение заданного времени")
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\nПрерывание пользователем")
|
||||
except Exception as e:
|
||||
print(f"Ошибка: {str(e)}")
|
||||
finally:
|
||||
bus.shutdown()
|
||||
print("\nCAN соединение закрыто")
|
||||
|
||||
if __name__ == '__main__':
|
||||
send_write_read_requests()
|
||||
Loading…
Add table
Add a link
Reference in a new issue