171 lines
No EOL
4.7 KiB
C++
171 lines
No EOL
4.7 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 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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// 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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bool is_app_valid();
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void setup() {
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Serial.setRx(HARDWARE_SERIAL_RX_PIN);
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Serial.setTx(HARDWARE_SERIAL_TX_PIN);
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Serial.begin(115200);
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Can.begin();
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Can.setBaudRate(1000000);
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TIM_TypeDef *Instance = TIM2;
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HardwareTimer *SendTimer = new HardwareTimer(Instance);
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SendTimer->setOverflow(100, HERTZ_FORMAT); // 50 Hz
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SendTimer->resume();
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Can.setFilter(0, 0, 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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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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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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}
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void process_can_message(const CAN_message_t &msg) {
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msg_id = msg.id;
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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; // saved address
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msg_ch = msg_id & 0xF; // saved id
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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:
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if(msg.buf[0] == 0x01) { // start transfer
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fw_size = *(uint32_t*)&msg.buf[1]; //size of firmware
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fw_crc = *(uint16_t*)&msg.buf[5]; //crc
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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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write_flash_page((const uint8_t*)msg.buf, msg.len);
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ptr_flash += 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: // End of transfer
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if(verify_firmware()) {
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send_ack(0xAA);
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write_param(firmw,0); //reset flag set 0
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fw_update = false; //reset flag
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// erase_sector(7);
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delay(500);
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NVIC_SystemReset();
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} else {
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send_ack(0x55);
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erase_flash_pages(); //if error
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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 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 send_ack(uint8_t status) {
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CAN_message_t ack;
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ack.id = ACK_CAN_ID;
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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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}
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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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void loop() {
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if(fw_update) {
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CAN_message_t msg;
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while(Can.read(msg))
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process_can_message(msg);
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}
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} |