Bootloader start work
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43185a391c
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9396bc3fb2
51 changed files with 10145 additions and 9127 deletions
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@ -44,7 +44,7 @@ void MX_CAN2_Init(void)
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hcan2.Init.TimeSeg1 = CAN_BS1_12TQ;
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hcan2.Init.TimeSeg2 = CAN_BS2_2TQ;
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hcan2.Init.TimeTriggeredMode = DISABLE;
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hcan2.Init.AutoBusOff = DISABLE;
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hcan2.Init.AutoBusOff = ENABLE;
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hcan2.Init.AutoWakeUp = DISABLE;
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hcan2.Init.AutoRetransmission = DISABLE;
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hcan2.Init.ReceiveFifoLocked = DISABLE;
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@ -17,18 +17,19 @@
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*/
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/* USER CODE END Header */
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/* Includes ------------------------------------------------------------------*/
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#include "flash.h"
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#include "main.h"
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#include "adc.h"
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#include "can.h"
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#include "spi.h"
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#include "tim.h"
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#include "usart.h"
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#include "gpio.h"
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#include <stdbool.h>
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#include "can_reg.h"
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/* Private includes ----------------------------------------------------------*/
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/* USER CODE BEGIN Includes */
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#include "flash.h"
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#include "can_reg.h"
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#include <stdbool.h>
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/* USER CODE END Includes */
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/* Private typedef -----------------------------------------------------------*/
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@ -80,7 +81,7 @@ void send_ack(uint8_t status) {
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uint8_t tx_data[1] = {status};
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uint32_t tx_mailbox;
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tx_header.ExtId = ACK_CAN_ID; // id = 0x05
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tx_header.StdId = ACK_CAN_ID; // id = 0x05
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tx_header.IDE = CAN_ID_STD; //standart id
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tx_header.RTR = CAN_RTR_DATA; // data frame
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tx_header.DLC = 1; // data len = 1 byte
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@ -107,11 +108,11 @@ bool verify_firmware() {
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void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
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msg_id = header->ExtId;
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msg_id = header->StdId;
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/* 0x697
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69 - slave addr
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7 || 8 - REG_READ or REG_WRITE */
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id_x = (msg_id >> 4) & 0xFFFF; // get addr
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id_x = (msg_id >> 4) & 0xFFF; // get addr
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msg_ch = msg_id & 0xF; // check cmd
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// Check addr
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@ -144,7 +145,6 @@ void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
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send_ack(0xAA);
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write_param(firmw, 0); // Reset firmware update
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fw_update = false;
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HAL_Delay(500);
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NVIC_SystemReset();
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} else {
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@ -156,20 +156,33 @@ void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) {
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}
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}
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void jump_to_app() {
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void jump_to_app(void) {
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HAL_RCC_DeInit();
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HAL_DeInit();
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__disable_irq();
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jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
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void (*app_entry)(void);
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app_entry = (void (*)(void))jump;
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uint32_t *app_vector_table = (uint32_t*)APP_ADDRESS;
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for (uint32_t i = 0; i < 8; i++) {
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// RESET ALL Interrupt
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for (uint8_t i = 0; i < 8; i++) {
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NVIC->ICER[i] = 0xFFFFFFFF;
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NVIC->ICPR[i] = 0xFFFFFFFF;
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}
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__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
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// SCB->VTOR = (uint32_t)0x08008004;
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app_entry();
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// APP_ADDR
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__set_MSP(app_vector_table[0]);
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// Point to go
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uint32_t app_entry = *(app_vector_table + 1); //APP_ADDR + 4
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void (*application)(void);
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application = (void (*)(void))app_entry;
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// Go to application
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application();
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// If we return go to infinity loop
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while(1);
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}
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bool is_app_valid() {
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@ -178,11 +191,11 @@ bool is_app_valid() {
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// Check stack pointer
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bool sp_valid = (app_vector[0] >= 0x20000000) &&
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(app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM
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(app_vector[0] <= (0x20000000 + 128*1024));
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// check reset_handler
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bool pc_valid = (app_vector[1] >= 0x08000000) &&
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(app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash
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(app_vector[1] <= (0x08000000 + 1024*1024));
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// check two words on reset value
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bool not_erased = (app_vector[0] != 0xFFFFFFFF) &&
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@ -200,29 +213,7 @@ int main(void)
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{
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/* USER CODE BEGIN 1 */
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// Настройка GPIO
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
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GPIOC->ODR &= ~GPIO_ODR_OD11;
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GPIOC->ODR |= GPIO_ODR_OD10;
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flash_record = load_params();
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if(flash_record[firmw].value == UPDATE_FLAG) {
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fw_update = true;
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for(int i = 0; i < 5;i++){
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GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
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HAL_Delay(100);
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}
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// write_param(firmw,0); //reset flasg
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erase_flash_pages();
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}
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else{
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// for st-link update, because he doesnt reset flag_update
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if(is_app_valid()) jump_to_app(); //firmware exist
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else fw_update = true; //firmware doesnt exist, but we in bootloader
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}
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GPIOC->ODR |= GPIO_ODR_OD10;
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/* USER CODE END 1 */
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/* MCU Configuration--------------------------------------------------------*/
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@ -255,29 +246,82 @@ int main(void)
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MX_NVIC_Init();
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/* USER CODE BEGIN 2 */
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// Настройка GPIO
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
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GPIOC->ODR &= ~GPIO_ODR_OD11;
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GPIOC->ODR |= GPIO_ODR_OD10;
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flash_record = load_params();
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if(flash_record[firmw].value == UPDATE_FLAG) {
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fw_update = true;
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for(int i = 0; i < 5;i++){
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GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message
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HAL_Delay(100);
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}
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// write_param(firmw,0); //reset flasg
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erase_flash_pages();
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}
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else{
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// for st-link update, because he doesnt reset flag_update
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if(is_app_valid()) jump_to_app(); //firmware exist
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else fw_update = true; //firmware doesnt exist, but we in bootloader
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}
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CAN_FilterTypeDef can_filter = {
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.FilterBank = 14, // Bank 14-27 for CAN2
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.FilterMode = CAN_FILTERMODE_IDMASK,
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.FilterScale = CAN_FILTERSCALE_32BIT,
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.FilterIdHigh = 0x0000,
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.FilterIdLow = 0x0000,
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.FilterMaskIdHigh = 0x0000,
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.FilterMaskIdLow = 0x0000,
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.FilterFIFOAssignment = CAN_RX_FIFO0,
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.FilterActivation = ENABLE,
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.SlaveStartFilterBank = 14
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};
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if (HAL_CAN_ConfigFilter(&hcan2, &can_filter) != HAL_OK) {
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Error_Handler();
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}
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if (HAL_CAN_Start(&hcan2) != HAL_OK) {
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Error_Handler();
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}
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GPIOC->ODR |= GPIO_ODR_OD10;
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// CAN_TxHeaderTypeDef test_header = {
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// .StdId = 0x123,
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// .IDE = CAN_ID_STD,
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// .RTR = CAN_RTR_DATA,
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// .DLC = 1,
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// .TransmitGlobalTime = DISABLE
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// };
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// uint8_t test_data = 0x55;
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// uint32_t tx_mailbox;
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// HAL_CAN_AddTxMessage(&hcan2, &test_header, &test_data, &tx_mailbox);
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/* USER CODE END 2 */
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/* Infinite loop */
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/* USER CODE BEGIN WHILE */
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while (1) {
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if(fw_update) {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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HAL_StatusTypeDef status;
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if (fw_update) {
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uint32_t rf0r = CAN2->RF0R;
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// Check message
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if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) > 0) {
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status = HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data);
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// Check count of FIFO
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if ((rf0r & CAN_RF0R_FMP0) > 0) {
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CAN_RxHeaderTypeDef rx_header;
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uint8_t rx_data[8];
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if(status == HAL_OK) {
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// check message IDE standart
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if(rx_header.IDE == CAN_ID_STD) {
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process_can_message(&rx_header, rx_data);
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if (HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data) == HAL_OK) {
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process_can_message(&rx_header, rx_data);
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}
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}
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}
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HAL_Delay(1);
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}
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}
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}
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/* USER CODE END WHILE */
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@ -285,9 +329,6 @@ int main(void)
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/* USER CODE END 3 */
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}
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/**
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* @brief System Clock Configuration
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* @retval None
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