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