146 lines
No EOL
4.2 KiB
C++
146 lines
No EOL
4.2 KiB
C++
#include <Arduino.h>
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#include <STM32_CAN.h>
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#include "flash.h"
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STM32_CAN Can(CAN2, DEF);
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volatile bool fw_update = false;
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volatile uint32_t fw_size = 0;
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volatile uint32_t fw_crc = 0;
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volatile uint32_t write_ptr = APP_ADDRESS;
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static FLASH_RECORD flash_record = {0};
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// Прототипы функций
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void jump_to_app();
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void process_can_message(const CAN_message_t &msg);
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void erase_flash_pages();
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bool verify_firmware();
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void send_ack(uint8_t status);
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void setup() {
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// Инициализация периферии
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Serial.begin(115200);
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Can.begin(1000000); // 1 Mbps
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Can.setFilter(0,BOOT_CAN_ID,STD);
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// Настройка GPIO
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RCC->AHB1ENR |= RCC_AHB1ENR_GPIOCEN;
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GPIOC->MODER |= GPIO_MODER_MODE10_0 | GPIO_MODER_MODE11_0;
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GPIOC->ODR |= GPIO_ODR_OD11;
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// Проверка флага обновления
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/*erase_sector(6);
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flash_program_word(FLAG_BOOT,0xDEADBEEF,0);
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flash_record.data_id = addr_id;
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flash_record.crc = 0x6933;
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flash_record.value = 0x69;
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flash_record.write_ptr_now = SECTOR_6;*/
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flash_write(SECTOR_6, &flash_record);
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flash_record = load_params();
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/* Добавить проверку адреса, т.е во время отправки запроса прошивки по CAN
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мы сохраняем как флаг, так и аддрес устройства к которому будет обращатлься во
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время прошивки */
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if(*(volatile uint32_t*)(FLAG_BOOT) == UPDATE_FLAG) {
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fw_update = true;
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GPIOC->ODR |= GPIO_ODR_OD10; // Индикация обновления
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erase_flash_pages();
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} else {
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jump_to_app();
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}
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}
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void loop() {
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if(fw_update) {
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CAN_message_t msg;
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if(Can.read(msg)) {
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process_can_message(msg);
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}
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}
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}
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void process_can_message(const CAN_message_t &msg) {
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switch(msg.id) {
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case BOOT_CAN_ID:
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if(msg.buf[0] == 0x01) { // Старт передачи
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fw_size = *(uint32_t*)&msg.buf[1]; //размер прошивки тип 4 байта
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fw_crc = *(uint32_t*)&msg.buf[5]; //crc
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write_ptr = APP_ADDRESS;
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send_ack(0x01);
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}
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break;
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case DATA_CAN_ID: // Пакет данных
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if(write_ptr < (APP_ADDRESS + fw_size)) {
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write_flash_page((const uint8_t*)msg.buf, msg.len);
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write_ptr += msg.len;
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send_ack(0x02);
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}
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break;
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case BOOT_CAN_END: // Завершение передачи
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if(verify_firmware()) {
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erase_sector(7); // Сброс флага
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send_ack(0xAA);
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NVIC_SystemReset();
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} else {
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send_ack(0x55);
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}
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break;
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}
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}
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void jump_to_app() {
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typedef void (*app_entry_t)(void);
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auto app_entry = (app_entry_t)(*(volatile uint32_t*)(APP_ADDRESS + 4));
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// SCB->VTOR = APP_ADDRESS;
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__set_MSP(*(volatile uint32_t*)APP_ADDRESS);
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app_entry();
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}
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void erase_flash_pages() {
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FLASH_EraseInitTypeDef erase;
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erase.TypeErase = FLASH_TYPEERASE_SECTORS;
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erase.Sector = FLASH_SECTOR_1;
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erase.NbSectors = 5;
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erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;
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uint32_t error;
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flash_unlock();
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HAL_FLASHEx_Erase(&erase, &error);
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flash_lock();
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}
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// CRC16 implementation for STM32
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uint16_t CalculateCRC16(const uint8_t* data, uint32_t length) {
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uint16_t crc = 0xFFFF;
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while (length--) {
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crc ^= (uint16_t)(*data++) << 8;
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for(uint8_t i = 0; i < 8; i++) {
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crc = crc & 0x8000 ? (crc << 1) ^ 0x8005 : crc << 1;
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}
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}
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return crc;
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}
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bool verify_firmware() {
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uint32_t calculated_crc = 0;
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calculated_crc = CalculateCRC16((uint8_t*)fw_crc,fw_size);
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if(calculated_crc != (uint16_t)fw_crc)
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return false;
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// Реализация проверки CRC
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// ...
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// return (calculated_crc == fw_crc);
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return true;
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}
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void send_ack(uint8_t status) {
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CAN_message_t ack;
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ack.id = BOOT_CAN_ID + 2;
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ack.len = 1;
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ack.buf[0] = status;
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Can.write(ack);
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} |