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Bootloader start work

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This commit is contained in:
Valentin Dabstep 2025-06-19 23:21:40 +03:00
parent 43185a391c
commit 9396bc3fb2
51 changed files with 10145 additions and 9127 deletions
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1
controller/fw/bootloader/.cproject
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@ -173,4 +173,5 @@
<autodiscovery enabled="false" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="refreshScope"/>
</cproject>

2
controller/fw/bootloader/.settings/com.st.stm32cube.ide.mcu.sfrview.prefs Normal file
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@ -0,0 +1,2 @@
eclipse.preferences.version=1
sfrviewstate={"fFavorites"\:{"fLists"\:{}},"fProperties"\:{"fNodeProperties"\:{}}}

3
controller/fw/bootloader/.settings/stm32cubeide.project.prefs
View file

@ -1,4 +1,5 @@
2F62501ED4689FB349E356AB974DBE57=9E2193C46F66F22FF98D84DBB5C34D23
635E684B79701B039C64EA45C3F84D30=C781131A7B2809FF4382EAF5B3C6C1B2
8DF89ED150041C4CBC7CB9A9CAA90856=54C15FA5FFB683D1E813986C9EAD009D
8DF89ED150041C4CBC7CB9A9CAA90856=9E2193C46F66F22FF98D84DBB5C34D23
DC22A860405A8BF2F2C095E5B6529F12=54C15FA5FFB683D1E813986C9EAD009D
eclipse.preferences.version=1

2
controller/fw/bootloader/Core/Src/can.c
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@ -44,7 +44,7 @@ void MX_CAN2_Init(void)
hcan2.Init.TimeSeg1 = CAN_BS1_12TQ;
hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan2.Init.TimeTriggeredMode = DISABLE;
hcan2.Init.AutoBusOff = DISABLE;
hcan2.Init.AutoBusOff = ENABLE;
hcan2.Init.AutoWakeUp = DISABLE;
hcan2.Init.AutoRetransmission = DISABLE;
hcan2.Init.ReceiveFifoLocked = DISABLE;

155
controller/fw/bootloader/Core/Src/main.c
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@ -17,18 +17,19 @@
*/
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "flash.h"
#include "main.h"
#include "adc.h"
#include "can.h"
#include "spi.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"
#include <stdbool.h>
#include "can_reg.h"
/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "flash.h"
#include "can_reg.h"
#include <stdbool.h>
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
@ -80,7 +81,7 @@ void send_ack(uint8_t status) {
uint8_t tx_data[1] = {status};
uint32_t tx_mailbox;
tx_header.ExtId = ACK_CAN_ID; // id = 0x05
tx_header.StdId = ACK_CAN_ID; // id = 0x05
tx_header.IDE = CAN_ID_STD; //standart id
tx_header.RTR = CAN_RTR_DATA; // data frame
tx_header.DLC = 1; // data len = 1 byte
@ -107,11 +108,11 @@ bool verify_firmware() {
void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
msg_id = header->ExtId;
msg_id = header->StdId;
/* 0x697
69 - slave addr
7 || 8 - REG_READ or REG_WRITE */
id_x = (msg_id >> 4) & 0xFFFF; // get addr
id_x = (msg_id >> 4) & 0xFFF; // get addr
msg_ch = msg_id & 0xF; // check cmd
// Check addr
@ -144,7 +145,6 @@ void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
send_ack(0xAA);
write_param(firmw, 0); // Reset firmware update
fw_update = false;
HAL_Delay(500);
NVIC_SystemReset();
} else {
@ -156,20 +156,33 @@ void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
}
}
void jump_to_app() {
void jump_to_app(void) {
HAL_RCC_DeInit();
HAL_DeInit();
__disable_irq();
jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
void (*app_entry)(void);
app_entry = (void (*)(void))jump;
uint32_t *app_vector_table = (uint32_t*)APP_ADDRESS;
for (uint32_t i = 0; i < 8; i++) {
// RESET ALL Interrupt
for (uint8_t i = 0; i < 8; i++) {
NVIC->ICER[i] = 0xFFFFFFFF;
NVIC->ICPR[i] = 0xFFFFFFFF;
}
__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
// SCB->VTOR = (uint32_t)0x08008004;
app_entry();
// APP_ADDR
__set_MSP(app_vector_table[0]);
// Point to go
uint32_t app_entry = *(app_vector_table + 1); //APP_ADDR + 4
void (*application)(void);
application = (void (*)(void))app_entry;
// Go to application
application();
// If we return go to infinity loop
while(1);
}
bool is_app_valid() {
@ -178,11 +191,11 @@ bool is_app_valid() {
// Check stack pointer
bool sp_valid = (app_vector[0] >= 0x20000000) &&
(app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
(app_vector[0] <= (0x20000000 + 128*1024));
// check reset_handler
bool pc_valid = (app_vector[1] >= 0x08000000) &&
(app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
(app_vector[1] <= (0x08000000 + 1024*1024));
// check two words on reset value
bool not_erased = (app_vector[0] != 0xFFFFFFFF) &&
@ -200,29 +213,7 @@ int main(void)
{
/* USER CODE BEGIN 1 */
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
GPIOC->ODR &= ~GPIO_ODR_OD11;
GPIOC->ODR |= GPIO_ODR_OD10;
flash_record = load_params();
if(flash_record[firmw].value == UPDATE_FLAG) {
fw_update = true;
for(int i = 0; i < 5;i++){
GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
HAL_Delay(100);
}
// write_param(firmw,0); //reset flasg
erase_flash_pages();
}
else{
// for st-link update, because he doesnt reset flag_update
if(is_app_valid()) jump_to_app(); //firmware exist
else fw_update = true; //firmware doesnt exist, but we in bootloader
}
GPIOC->ODR |= GPIO_ODR_OD10;
/* USER CODE END 1 */
/* MCU Configuration--------------------------------------------------------*/
@ -255,29 +246,82 @@ int main(void)
MX_NVIC_Init();
/* USER CODE BEGIN 2 */
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
GPIOC->ODR &= ~GPIO_ODR_OD11;
GPIOC->ODR |= GPIO_ODR_OD10;
flash_record = load_params();
if(flash_record[firmw].value == UPDATE_FLAG) {
fw_update = true;
for(int i = 0; i < 5;i++){
GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
HAL_Delay(100);
}
// write_param(firmw,0); //reset flasg
erase_flash_pages();
}
else{
// for st-link update, because he doesnt reset flag_update
if(is_app_valid()) jump_to_app(); //firmware exist
else fw_update = true; //firmware doesnt exist, but we in bootloader
}
CAN_FilterTypeDef can_filter = {
.FilterBank = 14, // Bank 14-27 for CAN2
.FilterMode = CAN_FILTERMODE_IDMASK,
.FilterScale = CAN_FILTERSCALE_32BIT,
.FilterIdHigh = 0x0000,
.FilterIdLow = 0x0000,
.FilterMaskIdHigh = 0x0000,
.FilterMaskIdLow = 0x0000,
.FilterFIFOAssignment = CAN_RX_FIFO0,
.FilterActivation = ENABLE,
.SlaveStartFilterBank = 14
};
if (HAL_CAN_ConfigFilter(&hcan2, &can_filter) != HAL_OK) {
Error_Handler();
}
if (HAL_CAN_Start(&hcan2) != HAL_OK) {
Error_Handler();
}
GPIOC->ODR |= GPIO_ODR_OD10;
// CAN_TxHeaderTypeDef test_header = {
// .StdId = 0x123,
// .IDE = CAN_ID_STD,
// .RTR = CAN_RTR_DATA,
// .DLC = 1,
// .TransmitGlobalTime = DISABLE
// };
// uint8_t test_data = 0x55;
// uint32_t tx_mailbox;
// HAL_CAN_AddTxMessage(&hcan2, &test_header, &test_data, &tx_mailbox);
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1) {
if(fw_update) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
HAL_StatusTypeDef status;
if (fw_update) {
uint32_t rf0r = CAN2->RF0R;
// Check message
if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) > 0) {
status = HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data);
// Check count of FIFO
if ((rf0r & CAN_RF0R_FMP0) > 0) {
CAN_RxHeaderTypeDef rx_header;
uint8_t rx_data[8];
if(status == HAL_OK) {
// check message IDE standart
if(rx_header.IDE == CAN_ID_STD) {
process_can_message(&rx_header, rx_data);
if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
process_can_message(&rx_header, rx_data);
}
}
}
HAL_Delay(1);
}
}
}
/* USER CODE END WHILE */
@ -285,9 +329,6 @@ int main(void)
/* USER CODE END 3 */
}
/**
* @brief System Clock Configuration
* @retval None

2
controller/fw/bootloader/Core/Startup/startup_stm32f446retx.s
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@ -97,7 +97,7 @@ LoopFillZerobss:
/* Call static constructors */
bl __libc_init_array
/* Call the application's entry point.*/
bl main
bl main
bx lr
.size Reset_Handler, .-Reset_Handler

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controller/fw/bootloader/Debug/Core/Src/adc.o
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controller/fw/bootloader/Debug/Core/Src/can.o
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controller/fw/bootloader/Debug/Core/Src/flash.o
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controller/fw/bootloader/Debug/Core/Src/gpio.o
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18
controller/fw/bootloader/Debug/Core/Src/main.cyclo
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@ -1,11 +1,11 @@
../Drivers/CMSIS/Include/core_cm4.h:1938:34:__NVIC_SystemReset 1
../Core/Src/main.c:78:6:send_ack 1
../Core/Src/main.c:102:6:verify_firmware 1
../Core/Src/main.c:109:6:process_can_message 8
../Core/Src/main.c:79:6:send_ack 1
../Core/Src/main.c:103:6:verify_firmware 1
../Core/Src/main.c:110:6:process_can_message 8
../Core/Src/main.c:159:6:jump_to_app 2
../Core/Src/main.c:175:6:is_app_valid 10
../Core/Src/main.c:199:5:main 8
../Core/Src/main.c:295:6:SystemClock_Config 4
../Core/Src/main.c:349:13:MX_NVIC_Init 1
../Core/Src/main.c:368:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:385:6:Error_Handler 1
../Core/Src/main.c:188:6:is_app_valid 10
../Core/Src/main.c:212:5:main 9
../Core/Src/main.c:336:6:SystemClock_Config 4
../Core/Src/main.c:390:13:MX_NVIC_Init 1
../Core/Src/main.c:409:6:HAL_TIM_PeriodElapsedCallback 2
../Core/Src/main.c:426:6:Error_Handler 1

37
controller/fw/bootloader/Debug/Core/Src/main.d
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@ -1,4 +1,9 @@
Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/flash.h \
Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/main.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h \
../Drivers/CMSIS/Include/core_cm4.h \
../Drivers/CMSIS/Include/cmsis_version.h \
@ -6,12 +11,6 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/flash.h \
../Drivers/CMSIS/Include/cmsis_gcc.h \
../Drivers/CMSIS/Include/mpu_armv7.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h \
../Core/Inc/main.h ../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h \
../Core/Inc/stm32f4xx_hal_conf.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h \
@ -33,16 +32,11 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h \
../Core/Inc/adc.h ../Core/Inc/can.h ../Core/Inc/spi.h ../Core/Inc/tim.h \
../Core/Inc/usart.h ../Core/Inc/gpio.h ../Core/Inc/can_reg.h
../Core/Inc/flash.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Core/Inc/adc.h ../Core/Inc/main.h ../Core/Inc/can.h ../Core/Inc/spi.h \
../Core/Inc/tim.h ../Core/Inc/usart.h ../Core/Inc/gpio.h \
../Core/Inc/flash.h \
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h \
../Core/Inc/can_reg.h
../Core/Inc/main.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal.h:
../Core/Inc/stm32f4xx_hal_conf.h:
@ -50,6 +44,12 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_def.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f4xx.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h:
../Drivers/CMSIS/Include/core_cm4.h:
../Drivers/CMSIS/Include/cmsis_version.h:
../Drivers/CMSIS/Include/cmsis_compiler.h:
../Drivers/CMSIS/Include/cmsis_gcc.h:
../Drivers/CMSIS/Include/mpu_armv7.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/system_stm32f4xx.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_rcc_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_gpio.h:
@ -72,9 +72,12 @@ Core/Src/main.o: ../Core/Src/main.c ../Core/Inc/flash.h \
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_tim_ex.h:
../Drivers/STM32F4xx_HAL_Driver/Inc/stm32f4xx_hal_uart.h:
../Core/Inc/adc.h:
../Core/Inc/main.h:
../Core/Inc/can.h:
../Core/Inc/spi.h:
../Core/Inc/tim.h:
../Core/Inc/usart.h:
../Core/Inc/gpio.h:
../Core/Inc/flash.h:
../Drivers/CMSIS/Device/ST/STM32F4xx/Include/stm32f446xx.h:
../Core/Inc/can_reg.h:

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@ -1,11 +1,11 @@
../Drivers/CMSIS/Include/core_cm4.h:1938:34:__NVIC_SystemReset 4 static,ignoring_inline_asm
../Core/Src/main.c:78:6:send_ack 56 static
../Core/Src/main.c:102:6:verify_firmware 16 static
../Core/Src/main.c:109:6:process_can_message 24 static
../Core/Src/main.c:159:6:jump_to_app 24 static,ignoring_inline_asm
../Core/Src/main.c:175:6:is_app_valid 16 static
../Core/Src/main.c:199:5:main 56 static
../Core/Src/main.c:295:6:SystemClock_Config 88 static
../Core/Src/main.c:349:13:MX_NVIC_Init 8 static
../Core/Src/main.c:368:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:385:6:Error_Handler 4 static,ignoring_inline_asm
../Core/Src/main.c:79:6:send_ack 56 static
../Core/Src/main.c:103:6:verify_firmware 16 static
../Core/Src/main.c:110:6:process_can_message 24 static
../Core/Src/main.c:159:6:jump_to_app 32 static,ignoring_inline_asm
../Core/Src/main.c:188:6:is_app_valid 16 static
../Core/Src/main.c:212:5:main 104 static
../Core/Src/main.c:336:6:SystemClock_Config 88 static
../Core/Src/main.c:390:13:MX_NVIC_Init 8 static
../Core/Src/main.c:409:6:HAL_TIM_PeriodElapsedCallback 16 static
../Core/Src/main.c:426:6:Error_Handler 4 static,ignoring_inline_asm

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controller/fw/bootloader/STM32F446RETX_FLASH.ld
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@ -45,7 +45,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 128K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 512K
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 512K - 32K
}
/* Sections */

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controller/fw/bootloader/bootloader_.ioc
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@ -16,12 +16,13 @@ ADC2.SamplingTime-6\#ChannelRegularConversion=ADC_SAMPLETIME_3CYCLES
CAD.formats=
CAD.pinconfig=
CAD.provider=
CAN2.ABOM=ENABLE
CAN2.BS1=CAN_BS1_12TQ
CAN2.BS2=CAN_BS2_2TQ
CAN2.CalculateBaudRate=1000000
CAN2.CalculateTimeBit=999
CAN2.CalculateTimeBit=1000
CAN2.CalculateTimeQuantum=66.66666666666666
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2
CAN2.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,BS2,ABOM
CAN2.Prescaler=3
File.Version=6
GPIO.groupedBy=Group By Peripherals
@ -215,7 +216,7 @@ ProjectManager.ToolChainLocation=
ProjectManager.UAScriptAfterPath=
ProjectManager.UAScriptBeforePath=
ProjectManager.UnderRoot=true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true
ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM1_Init-TIM1-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_SPI2_Init-SPI2-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_ADC2_Init-ADC2-false-HAL-true,8-MX_TIM5_Init-TIM5-false-HAL-true,9-MX_CAN2_Init-CAN2-false-HAL-true
RCC.AHBFreq_Value=180000000
RCC.APB1CLKDivider=RCC_HCLK_DIV4
RCC.APB1Freq_Value=45000000

83
controller/fw/bootloader/bootloader_.launch Normal file
View file

@ -0,0 +1,83 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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