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Bootloader CAN work

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This commit is contained in:
lulko 2025-03-21 14:00:00 +03:00
parent 4b543e78ce
commit a1bcbdb33b
1 changed files with 31 additions and 25 deletions
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56
controller/fw/embed/bootloader/main.cpp
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@ -9,14 +9,13 @@ STM32_CAN Can(CAN2, DEF);
volatile bool fw_update = false;
volatile uint32_t fw_size = 0;
volatile uint32_t fw_crc = 0;
volatile uint32_t jump;
static FLASH_RECORD flash_record = {0};
static uint32_t ptr_flash;
// Прототипы функций
void jump_to_app();
void process_can_message(const CAN_message_t &msg);
void erase_flash_pages();
bool verify_firmware();
void send_ack(uint8_t status);
@ -33,7 +32,7 @@ void setup() {
// SendTimer->attachInterrupt(process_can_message);
SendTimer->resume();
// Разрешить все ID (маска 0x00000000)
Can.setFilter(0, 0, STD);
Can.setFilter(0, 0, STD);
// Настройка GPIO
RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
@ -41,13 +40,13 @@ void setup() {
GPIOC->ODR |= GPIO_ODR_OD11;
// Проверка флага обновления
/* erase_sector(6);
flash_program_word(FLAG_BOOT,0xDEADBEEF,0);
flash_record.data_id = addr_id;
flash_record.crc = 0x6933;
flash_record.value = 0x69;
flash_record.write_ptr_now = SECTOR_6;
flash_write(SECTOR_6, &flash_record);*/
// erase_sector(6);
// flash_program_word(FLAG_BOOT,0xDEADBEEF,0);
// flash_record.data_id = addr_id;
// flash_record.crc = 0x6933;
// flash_record.value = 0x69;
// flash_record.write_ptr_now = SECTOR_6;
// flash_write(SECTOR_6, &flash_record);
flash_record = load_params();
/* Добавить проверку адреса, т.е во время отправки запроса прошивки по CAN
мы сохраняем как флаг, так и аддрес устройства к которому будет обращатлься во
@ -66,14 +65,14 @@ void setup() {
void loop() {
if(fw_update) {
GPIOC->ODR ^= GPIO_ODR_OD10;
HAL_Delay(100);
// HAL_Delay(100);
CAN_message_t msg;
while(Can.read(msg)) {
while(Can.read(msg))
process_can_message(msg);
}
}
}
void process_can_message(const CAN_message_t &msg) {
switch(msg.id) {
@ -91,8 +90,10 @@ void process_can_message(const CAN_message_t &msg) {
write_flash_page((const uint8_t*)msg.buf, msg.len);
ptr_flash += msg.len;
send_ack(0x02);
}
break;
case BOOT_CAN_END: // Завершение передачи
if(verify_firmware()) {
@ -100,24 +101,27 @@ void process_can_message(const CAN_message_t &msg) {
send_ack(0xAA);
NVIC_SystemReset();
} else {
erase_sector(7); // Сброс флага
send_ack(0x55);
NVIC_SystemReset();
}
break;
}
}
void jump_to_app() {
volatile uint32_t* addr;
uint32_t appjump_addr;
typedef void (*app_entry_t)(void);
addr = (__IO uint32_t*)APP_ADDRESS;
appjump_addr = (uint32_t)addr;
app_entry_t app_entry = (app_entry_t)appjump_addr;
// SCB->VTOR = APP_ADDRESS;
__set_MSP(appjump_addr);
__disable_irq();
jump = *(volatile uint32_t*)(APP_ADDRESS + 4);
void (*app_entry)(void);
app_entry = (void (*)(void))jump;
for (uint32_t i = 0; i < 3; i++) {
NVIC->ICPR[i] = 0xFFFFFFFF;
}
__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
SCB->VTOR = APP_ADDRESS;
app_entry();
}
@ -135,7 +139,8 @@ void erase_flash_pages() {
}
// CRC16 implementation for STM32
uint16_t CalculateCRC16(const uint8_t* data, uint32_t length) {
uint16_t crc = 0xFFFF; // Начальное значение
while (length--) {
@ -151,6 +156,7 @@ uint16_t CalculateCRC16(const uint8_t* data, uint32_t length) {
return crc; // Финальный XOR = 0x0000 (не требуется)
}
bool verify_firmware() {
uint32_t calculated_crc = 0;
calculated_crc = CalculateCRC16((uint8_t*)APP_ADDRESS,fw_size);