Fix include and add/fixed python test
This commit is contained in:
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6844ca9a8d
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7 changed files with 320 additions and 7 deletions
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Subproject commit 01e1b2f27e07936f3b700e2d02c28ba75c32179d
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85
controller/fw/bootloader/include/flash.h
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85
controller/fw/bootloader/include/flash.h
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@ -0,0 +1,85 @@
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#ifndef FLASH_H_
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#define FLASH_H_
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#include "stm32f446xx.h"
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#include <stdio.h>
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#include <stdlib.h>
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/* no padding for this struct, beacuse storing 8 bytes*/
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typedef struct{
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uint8_t data_id; // data_id = id register of can
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uint8_t data_type;
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uint16_t crc;
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uint32_t value;
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// uint32_t write_ptr_now;
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}FLASH_RECORD;
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enum {
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addr_id = 0,
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pid_p = 1,
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pid_i,
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pid_d,
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foc_id,
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angl,
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vel
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};
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/* for saved in FLASH float data*/
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union{
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uint32_t i;
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float f;
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}conv_float_to_int;
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#define FLASH_RECORD_SIZE sizeof(FLASH_RECORD) //size flash struct
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// Flash sectors for STM32F407
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#define APP_ADDRESS 0x08008000 // Адрес основной прошивки
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#define FLAG_BOOT 0x08060000 // Адрес хранения флага для обновления прошивки
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#define UPDATE_FLAG 0xDEADBEEF // Уникальное 32-битное значение
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#define BOOT_CAN_ID 0x01 // CAN ID бутлоадера
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#define BOOT_CAN_END 0x02 // CAN ID завершения передачи
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#define DATA_CAN_ID 0x03 // CAN ID данных
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#define ACK_CAN_ID 0x05 // CAN ID подтверждения
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#define MAX_FW_SIZE 0x3FFF // Макс. размер прошивки (256KB)
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#define PARAM_COUNT 4 // count data in flash
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#define SECTOR_6 0x08040000 // 128KB
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#define SECTOR_6_END (SECTOR_6 + 128 * 1024) // sector 6 end
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// Flash keys for unlocking flash memory
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#define BYTE32 0
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#define BYTE8 1
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//FLASH SET ONE PROGRAMM WORD
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#define FLASH_8BYTE FLASH->CR &= ~FLASH_CR_PSIZE & ~FLASH_CR_PSIZE_1
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#define FLASH_32BYTE \
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FLASH->CR = (FLASH->CR & ~FLASH_CR_PSIZE) | (0x2 << FLASH_CR_PSIZE_Pos)
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// Flash command bits
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#define FLASH_LOCK FLASH->CR |= FLASH_CR_LOCK
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#define FLASH_UNLOCK FLASH->KEYR = FLASH_KEY1; FLASH->KEYR = FLASH_KEY2
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// Flash status flags
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#define FLASH_BUSY (FLASH->SR & FLASH_SR_BSY)
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#define FLASH_ERROR (FLASH->SR & (FLASH_SR_WRPERR | FLASH_SR_PGAERR | FLASH_SR_PGPERR | FLASH_SR_PGSERR))
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//for bootloader
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typedef void(*pFunction)(void);
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/* for start addr in FLASH */
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static uint32_t write_ptr = SECTOR_6;
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static uint32_t ptr_fl = APP_ADDRESS;
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// Function prototypes
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void flash_unlock(void);
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void flash_lock(void);
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void erase_sector(uint8_t sector);
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void flash_program_word(uint32_t address, uint32_t data,uint32_t byte_len);
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uint8_t flash_read_word(uint32_t address);
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FLASH_RECORD* load_params();
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void compact_page();
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void flash_read(uint32_t addr,FLASH_RECORD* ptr);
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uint16_t validate_crc16(uint8_t *data,uint32_t length);
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void flash_write(uint32_t addr, FLASH_RECORD* record);
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void write_flash_page(const uint8_t* data, uint16_t len);
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void erase_flash_pages();
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void write_param(uint8_t param_id,uint32_t val);
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uint16_t calc_crc_struct(FLASH_RECORD* res);
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#endif /* FLASH_H_ */
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38
controller/fw/bootloader/include/hal_conf_extra.h
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38
controller/fw/bootloader/include/hal_conf_extra.h
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@ -0,0 +1,38 @@
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#pragma once
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#pragma region "Motor and sensor setup"
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#define LED1 PC10
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#define LED2 PC11
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#define HARDWARE_SERIAL_RX_PIN PB7
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#define HARDWARE_SERIAL_TX_PIN PB6
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#define AS5045_CS PB15
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#define AS5045_MISO PB14
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#define AS5045_MOSI PC1
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#define AS5045_SCLK PB10
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#define CURRENT_SENSOR_1 PB1
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#define CURRENT_SENSOR_2 PB0
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#define CURRENT_SENSOR_3 PC5
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#define TIM1_CH1 PA8
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#define TIM1_CH2 PA9
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#define TIM1_CH3 PA10
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#define EN_W_GATE_DRIVER PC6
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#define EN_U_GATE_DRIVER PA11
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#define EN_V_GATE_DRIVER PA12
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#define SLEEP_DRIVER PC9
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#define RESET_DRIVER PC8
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#define FAULT_DRIVER PC7
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#define POLE_PAIRS 14
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#define CAN2_TX PB13
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#define CAN2_RX PB12
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#define CAN1_TX PB9
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#define CAN1_RX PB8
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#define GM6208_RESISTANCE 31
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#define OWN_RESISTANCE 26
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#pragma endregion
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#if !defined(HAL_CAN_MODULE_ENABLED)
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#define HAL_CAN_MODULE_ENABLED
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#endif
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#include "stm32f4xx_hal.h"
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#include "stm32f4xx_hal_can.h"
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#include <STM32_CAN.h>
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38
controller/fw/bootloader/include/reg_cah.h
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38
controller/fw/bootloader/include/reg_cah.h
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#ifndef REG_CAH_H_
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#define REG_CAH_H_
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#define APP_ADDR 0x0800400 // 16KB - Application
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#define ADDR_VAR 0x8040000
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#define REG_READ 0x07
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#define REG_WRITE 0x08
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/* Startup ID device */
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#define START_ID 0x00
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/* CAN REGISTER ID */
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#define REG_ID 0x01
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#define REG_BAUDRATE 0x02
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#define REG_MOTOR_POSPID_Kp 0x30
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#define REG_MOTOR_POSPID_Ki 0x31
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#define REG_MOTOR_POSPID_Kd 0x32
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#define REG_MOTOR_VELPID_Kp 0x40
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#define REG_MOTOR_VELPID_Ki 0x41
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#define REG_MOTOR_VELPID_Kd 0x42
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#define REG_MOTOR_IMPPID_Kp 0x50
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#define REG_MOTOR_IMPPID_Kd 0x51
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#define REG_RESET 0x88
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#define REG_LED_BLINK 0x8B
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#define FOC_STATE 0x60
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#define MOTOR_VELOCITY 0x70
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#define MOTOR_ENABLED 0x71
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#define MOTOR_ANGLE 0x72
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#endif // REG_CAH_H_
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141
controller/fw/embed/test/python_firmware.py
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141
controller/fw/embed/test/python_firmware.py
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import can
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import sys
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import time
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from intelhex import IntelHex
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# Конфигурация
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CAN_CHANNEL = 'socketcan'
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CAN_INTERFACE = 'can0'
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CAN_BITRATE = 1000000
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#ch =int(input("Введите id устройства:"))
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ch = int(sys.argv[2])
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BOOT_CAN_ID = (ch * 16) + 1
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DATA_CAN_ID = (ch * 16) + 3
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BOOT_CAN_END = (ch * 16) + 2
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ACK_CAN_ID = 0x05
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#конфиг для crc16 ibm
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def debug_print(msg):
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print(f"[DEBUG] {msg}")
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def calculate_crc16_modbus(data: bytes) -> int:
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crc = 0xFFFF
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for byte in data:
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crc ^= byte
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for _ in range(8):
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if crc & 0x0001:
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crc = (crc >> 1) ^ 0xA001
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else:
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crc >>= 1
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return crc
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def send_firmware(hex_file):
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try:
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debug_print("Инициализация CAN...")
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bus = can.interface.Bus(
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channel=CAN_INTERFACE,
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bustype=CAN_CHANNEL,
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bitrate=CAN_BITRATE
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)
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debug_print("Чтение HEX-файла...")
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ih = IntelHex(hex_file)
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binary_data = ih.tobinstr() # Исправлено на tobinstr()
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fw_size = len(binary_data)
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debug_print(f"Размер прошивки: {fw_size} байт")
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# Расчет CRC
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debug_print("Расчёт CRC...")
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# calculator = Calculator(Crc16.IBM)
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fw_crc = calculate_crc16_modbus(binary_data)
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debug_print(f"CRC: 0x{fw_crc:04X}")
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# Отправка START
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start_data = bytearray([0x01])
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start_data += fw_size.to_bytes(4, 'little')
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start_data += fw_crc.to_bytes(2, 'little')
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debug_print(f"START: {list(start_data)}")
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start_msg = can.Message(
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arbitration_id=BOOT_CAN_ID,
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data=bytes(start_data),
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is_extended_id=False
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)
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try:
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bus.send(start_msg)
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except can.CanError as e:
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debug_print(f"Ошибка отправки START: {str(e)}")
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return
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# Ожидание ACK
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debug_print("Ожидание ACK...")
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ack = wait_for_ack(bus)
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if not ack:
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debug_print("Таймаут ACK START")
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return
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debug_print(f"Получен ACK: {list(ack.data)}")
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# Отправка данных
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packet_size = 8
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for i in range(0, len(binary_data), packet_size):
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chunk = binary_data[i:i+packet_size]
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# Дополнение до 8 байт
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if len(chunk) < 8:
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chunk += b'\xFF' * (8 - len(chunk))
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debug_print(f"Пакет {i//8}: {list(chunk)}")
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data_msg = can.Message(
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arbitration_id=DATA_CAN_ID,
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data=chunk,
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is_extended_id=False
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)
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try:
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bus.send(data_msg)
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except can.CanError as e:
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debug_print(f"Ошибка отправки данных: {str(e)}")
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return
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ack = wait_for_ack(bus)
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if not ack:
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debug_print("Таймаут ACK DATA")
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return
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# Финал
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debug_print("Отправка FINISH...")
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finish_msg = can.Message(
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arbitration_id=BOOT_CAN_END,
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data=bytes([0xAA]),
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is_extended_id=False
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)
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bus.send(finish_msg)
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ack = wait_for_ack(bus, timeout=3)
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if ack and ack.data[0] == 0xAA:
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debug_print("Прошивка подтверждена!")
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else:
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debug_print("Ошибка верификации!")
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except Exception as e:
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debug_print(f"Критическая ошибка: {str(e)}")
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finally:
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bus.shutdown()
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def wait_for_ack(bus, timeout=1.0):
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start_time = time.time()
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while time.time() - start_time < timeout:
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msg = bus.recv(timeout=0) # Неблокирующий режим
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if msg and msg.arbitration_id == ACK_CAN_ID:
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return msg
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return None
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if __name__ == "__main__":
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import sys
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if len(sys.argv) != 3:
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print("Использование: sudo python3 can_flasher.py firmware.hex")
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sys.exit(1)
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send_firmware(sys.argv[1])
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@ -1,11 +1,11 @@
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import can
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import time
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import sys
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# Конфигурация
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CAN_INTERFACE = 'can0'
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OLD_DEVICE_ID = 0x03 # Текущий ID устройства (по умолчанию)
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OLD_DEVICE_ID = int(sys.argv[1]) # Текущий ID устройства (по умолчанию)
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REG_READ = 0x7 # Код команды чтения
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REG_ID = 0x1 # Адрес регистра с ID устройства
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REG_ID = 0x01 # Адрес регистра с ID устройства
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def send_can_message(bus, can_id, data):
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"""Отправка CAN-сообщения"""
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@ -100,3 +100,9 @@ else:
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# Завершаем работу с шиной
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bus.shutdown()
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if __name__ == "__main__":
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import sys
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if len(sys.argv) != 2:
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print("Использование: python3 can_flasher.py address")
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sys.exit(1)
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import can
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import time
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import sys
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# Конфигурация
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CAN_INTERFACE = 'can0'
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OLD_DEVICE_ID = 0x03
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NEW_DEVICE_ID = 0x69
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OLD_DEVICE_ID = int(sys.argv[1])
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NEW_DEVICE_ID = int(sys.argv[2])
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REG_WRITE = 0x8
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REG_READ = 0x7
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REG_ID = 0x1
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print("Нет ответа от устройства.")
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bus.shutdown()
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if __name__ == "__main__":
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import sys
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if len(sys.argv) != 3:
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print("Использование: python3 can_flasher.py old_addr new addr")
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sys.exit(1)
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