/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "flash.h" #include "adc.h" #include "can.h" #include "spi.h" #include "tim.h" #include "usart.h" #include "gpio.h" #include #include "can_reg.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); static void MX_NVIC_Init(void); /* USER CODE BEGIN PFP */ volatile bool fw_update = false; volatile bool app_valid = false; volatile uint32_t fw_size = 0; volatile uint16_t fw_crc = 0; volatile uint32_t jump; static FLASH_RECORD *flash_record = {0}; static uint32_t ptr_flash; volatile uint32_t msg_id; volatile uint16_t id_x; volatile uint8_t msg_ch; /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ void send_ack(uint8_t status) { CAN_TxHeaderTypeDef tx_header; uint8_t tx_data[1] = {status}; uint32_t tx_mailbox; tx_header.ExtId = ACK_CAN_ID; // id = 0x05 tx_header.IDE = CAN_ID_STD; //standart id tx_header.RTR = CAN_RTR_DATA; // data frame tx_header.DLC = 1; // data len = 1 byte tx_header.TransmitGlobalTime = DISABLE; //send message HAL_StatusTypeDef result = HAL_CAN_AddTxMessage(&hcan2, &tx_header, tx_data, &tx_mailbox); // process errors if(result != HAL_OK) { /* TO DO * */ } } bool verify_firmware() { uint16_t calculated_crc = 0; calculated_crc = validate_crc16((uint8_t*)APP_ADDRESS,fw_size); return (calculated_crc == fw_crc); } void process_can_message(CAN_RxHeaderTypeDef *header, uint8_t *data) { msg_id = header->ExtId; /* 0x697 69 - slave addr 7 || 8 - REG_READ or REG_WRITE */ id_x = (msg_id >> 4) & 0xFFFF; // get addr msg_ch = msg_id & 0xF; // check cmd // Check addr if(id_x == flash_record[addr_id].value) { switch(msg_ch) { case BOOT_CAN_ID: // CMD for search boot if(data[0] == 0x01) { // firmware size fw_size = *((uint32_t*)&data[1]); fw_crc = *((uint16_t*)&data[5]); ptr_flash = APP_ADDRESS; send_ack(0x01); } break; case DATA_CAN_ID: // Data packet if(ptr_flash < (APP_ADDRESS + fw_size)) { uint8_t aligned_data[8]; memcpy(aligned_data, data, header->DLC); //copy from data to aligned_data // write to flash write_flash_page(aligned_data, header->DLC); ptr_flash += header->DLC; send_ack(0x02); } break; case BOOT_CAN_END: if(verify_firmware()) { send_ack(0xAA); write_param(firmw, 0); // Reset firmware update fw_update = false; HAL_Delay(500); NVIC_SystemReset(); } else { send_ack(0x55); // Error erase_flash_pages(); // Erase error firwmare } break; } } } void jump_to_app() { __disable_irq(); jump = *(volatile uint32_t*)(APP_ADDRESS + 4); void (*app_entry)(void); app_entry = (void (*)(void))jump; for (uint32_t i = 0; i < 8; i++) { NVIC->ICPR[i] = 0xFFFFFFFF; } __set_MSP(*(volatile uint32_t*)APP_ADDRESS); // SCB->VTOR = (uint32_t)0x08008004; app_entry(); } bool is_app_valid() { volatile uint32_t* app_vector = (volatile uint32_t*)APP_ADDRESS; // Check stack pointer bool sp_valid = (app_vector[0] >= 0x20000000) && (app_vector[0] <= (0x20000000 + 128*1024)); // Для STM32 с 128K RAM // check reset_handler bool pc_valid = (app_vector[1] >= 0x08000000) && (app_vector[1] <= (0x08000000 + 1024*1024)); // Для 1MB Flash // check two words on reset value bool not_erased = (app_vector[0] != 0xFFFFFFFF) && (app_vector[1] != 0xFFFFFFFF); return sp_valid && pc_valid && not_erased; } /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ int main(void) { /* USER CODE BEGIN 1 */ // Настройка GPIO RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN; GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0; GPIOC->ODR &= ~GPIO_ODR_OD11; GPIOC->ODR |= GPIO_ODR_OD10; flash_record = load_params(); if(flash_record[firmw].value == UPDATE_FLAG) { fw_update = true; for(int i = 0; i < 5;i++){ GPIOC->ODR ^= GPIO_ODR_OD10; // Indecate message HAL_Delay(100); } // write_param(firmw,0); //reset flasg erase_flash_pages(); } else{ // for st-link update, because he doesnt reset flag_update if(is_app_valid()) jump_to_app(); //firmware exist else fw_update = true; //firmware doesnt exist, but we in bootloader } GPIOC->ODR |= GPIO_ODR_OD10; /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_TIM1_Init(); MX_USART1_UART_Init(); MX_SPI2_Init(); MX_TIM3_Init(); MX_ADC2_Init(); MX_TIM5_Init(); MX_CAN2_Init(); /* Initialize interrupts */ MX_NVIC_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { if(fw_update) { CAN_RxHeaderTypeDef rx_header; uint8_t rx_data[8]; HAL_StatusTypeDef status; // Check message if(HAL_CAN_GetRxFifoFillLevel(&hcan2, CAN_RX_FIFO0) > 0) { status = HAL_CAN_GetRxMessage(&hcan2, CAN_RX_FIFO0, &rx_header, rx_data); if(status == HAL_OK) { // check message IDE standart if(rx_header.IDE == CAN_ID_STD) { process_can_message(&rx_header, rx_data); } } } } } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ __HAL_RCC_PWR_CLK_ENABLE(); __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1); /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI; RCC_OscInitStruct.PLL.PLLM = 8; RCC_OscInitStruct.PLL.PLLN = 180; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV2; RCC_OscInitStruct.PLL.PLLQ = 2; RCC_OscInitStruct.PLL.PLLR = 2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Activate the Over-Drive mode */ if (HAL_PWREx_EnableOverDrive() != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV4; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV2; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_5) != HAL_OK) { Error_Handler(); } } /** * @brief NVIC Configuration. * @retval None */ static void MX_NVIC_Init(void) { /* ADC_IRQn interrupt configuration */ HAL_NVIC_SetPriority(ADC_IRQn, 5, 0); HAL_NVIC_EnableIRQ(ADC_IRQn); } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief Period elapsed callback in non blocking mode * @note This function is called when TIM2 interrupt took place, inside * HAL_TIM_IRQHandler(). It makes a direct call to HAL_IncTick() to increment * a global variable "uwTick" used as application time base. * @param htim : TIM handle * @retval None */ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) { /* USER CODE BEGIN Callback 0 */ /* USER CODE END Callback 0 */ if (htim->Instance == TIM2) { HAL_IncTick(); } /* USER CODE BEGIN Callback 1 */ /* USER CODE END Callback 1 */ } /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */