Add bootloader flag in the flash

controller/fw/embed/include/flash.h

@@ -19,6 +19,7 @@ enum {
   pid_p     = 1, 
   pid_i,
   pid_d,
+  firmw,
   foc_id,
   angl,
   vel
@@ -31,8 +32,8 @@ union{
 }conv_float_to_int;
 
 #define FLASH_RECORD_SIZE sizeof(FLASH_RECORD)    //size flash struct
-#define PARAM_COUNT 4             // count data in flash
-
+#define PARAM_COUNT 5             // count data in flash
+#define FIRMWARE_FLAG   (uint32_t)0xDEADBEEF
 // Flash sectors for STM32F407
 
 #define SECTOR_2     0x08008000  // 16KB

controller/fw/embed/include/process_can.h

@@ -17,6 +17,7 @@ void send_angle();
 void send_motor_enabled();
 void send_motor_enabled();
 void send_id();
+void firmware_update();
 // void send_motor_torque();
 void send_pid(uint8_t param_pid);
 void setup_id(uint8_t my_id);

controller/fw/embed/include/reg_cah.h

@@ -37,6 +37,7 @@
 #define MOTOR_ANGLE             0x72
 #define MOTOR_TORQUE            0x73
 
+#define FIRMWARE_UPDATE         0x55
 
 //For send
 #define CAN_MSG_MAX_LEN 7

controller/fw/embed/src/main.cpp

@@ -78,6 +78,7 @@ volatile uint32_t ipsr_value = 0;
   // Настройка прерываний CAN
   CAN2->IER |= CAN_IER_FMPIE0;
   flash_rec = load_params();    //for update write_ptr
+  if(flash_rec[firmw].value == FIRMWARE_FLAG) NVIC_SystemReset();  //if in flash go to the bootloader
   // write_param(addr_id,39);
   // flash_rec = load_params();
   

controller/fw/embed/src/process_can.cpp

@@ -118,6 +118,11 @@ void setup_id(uint8_t my_id) {
   write_param(addr_id,my_id);
 }
 
+void firmware_update(){
+  write_param(firmw,FIRMWARE_FLAG);
+  NVIC_SystemReset();
+}
+
 void setup_angle(float target_angle) {
   motor.enable();  // Enable motor if disabled
   motor.controller = MotionControlType::angle;
@@ -142,6 +147,8 @@ void setup_pid_angle(uint8_t param_pid, float data){
   write_param(param_pid,data);
 }
 
+
+
 void listen_can(const CAN_message_t &msg) {
   msg_id = msg.id;
   msg_ch = msg_id & 0xF;        // Extract message channel
@@ -203,6 +210,10 @@ void listen_can(const CAN_message_t &msg) {
           conv_float_to_int.f = motor.P_angle.D;
           write_param(pid_d,conv_float_to_int.i);
           break;
+        
+        case FIRMWARE_UPDATE:
+          firmware_update();
+          break;
 
         case MOTOR_ENABLED:
           if (msg.buf[1] == 1) {