Fix boot

controller/fw/embed/platformio.ini

@@ -7,6 +7,7 @@ debug_tool = stlink
 monitor_speed = 19200
 monitor_parity = N
 
+board_upload.offset_address = 0x08008000
 board_build.ldscript = ${PROJECT_DIR}/custom_script.ld
 
 build_flags = 
@@ -14,11 +15,10 @@ build_flags =
     -D HAL_CAN_MODULE_ENABLED
     -D SIMPLEFOC_PWM_LOWSIDE_ACTIVE_HIGH
 
-
 lib_deps = 
     askuric/Simple FOC@^2.3.4
     pazi88/STM32_CAN@^1.1.2
 
 extra_scripts = 
     pre:gen_compile_commands.py
-    post:hex_compile.py
+    post:hex_compile.py

controller/fw/embed/src/main.cpp

@@ -63,13 +63,13 @@ volatile uint32_t ipsr_value = 0;
 
   void setup(){
   // Vector table initialization (commented out)
-  SCB->VTOR = (uint32_t)0x08008004;
+  SCB->VTOR = (volatile uint32_t)0x08008004;
   
   Serial.setRx(HARDWARE_SERIAL_RX_PIN);
   Serial.setTx(HARDWARE_SERIAL_TX_PIN);
   Serial.begin(115200);
 
-  // pinMode(PC11, OUTPUT);
+  pinMode(PC11, OUTPUT);
   pinMode(PC10,OUTPUT);
   GPIOC->ODR &= ~GPIO_ODR_OD10;
   // Can.enableMBInterrupts();
@@ -111,11 +111,12 @@ void loop() {
   
   // // Process incoming CAN messages
   while (Can.read(msg)) {
+    listen_can(msg);
     CAN_GET = true;
   }
   /*  If receive data from  CAN */
   if(CAN_GET) {
-    listen_can(msg);
+
     CAN_GET = false;
   }
 }

controller/fw/embed/src/process_can.cpp

@@ -6,7 +6,7 @@ static CAN_message_t CAN_inMsg;
 
 
 template <typename T>
-void send_can_with_id_crc(uint8_t id, uint8_t message_type, const T* data) {
+void send_can_with_id_crc(uint8_t id, uint8_t message_type, T* data) {
   // Create CAN message
   CAN_message_t msg_l;
   msg_l.id = id;
@@ -76,7 +76,6 @@ void send_id() {
 
   uint8_t id = flash_rec[addr_id].value;
   send_can_with_id_crc(id,'I',&id);
-  __NOP();
 }
 
 // void send_motor_torque() {