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Add bootloader flag in the flash

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This commit is contained in:
Valentin Dabstep 2025-05-23 09:10:51 +03:00
parent ec086e2d47
commit c0c42339f1
5 changed files with 17 additions and 2 deletions
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5
controller/fw/embed/include/flash.h
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@ -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

1
controller/fw/embed/include/process_can.h
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@ -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);

1
controller/fw/embed/include/reg_cah.h
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@ -37,6 +37,7 @@
#define MOTOR_ANGLE 0x72
#define MOTOR_TORQUE 0x73
#define FIRMWARE_UPDATE 0x55
//For send
#define CAN_MSG_MAX_LEN 7