Tenocha/CAN_Request-Response_protocol
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
3173e999aa
CAN_Request-Response_protocol/Core/Src/bootloader.c

614 lines
17 KiB
C
Raw Normal View History

Initial commit
2024-10-31 11:46:35 +03:00
#include "bootloader.h"
#include "custom_receive_and_write.h"
extern FLASH_EraseInitTypeDef EraseInitStruct;
struct flag FLAGS;
struct Bootloader_Errors_Counters BOOTLOADER_ERRORS_COUNTERS;
struct Bootloader_Errors BOOTLOADER_ERRORS;
uint32_t app_current_add; // address for writing pages
int cnt_tim_reset = 0; // WD Tim counter
uint8_t ReceiveDataUART[4]; // buffer for CMD
uint8_t Data2Write[PAGE_SIZE*2]; // DMA buffer for application
uint8_t CAN_Data[8];
CAN_TxHeaderTypeDef TxHeader;
CAN_RxHeaderTypeDef RxHeader;
uint32_t TxMailBox = 0; // num of used mail
extern UART_HandleTypeDef huart_boot; // uart handler for boot uart
extern DMA_HandleTypeDef hdma_usart_boot_rx; // dma handler for boot uart
struct UARTSettings UARTSet; // settings for uart
void Bootloader_Init(void)
{
HAL_Init();
Boot_SystemClock_Config();
MX_DMA_Init();
//Если используется ЮСАРТ - инициализация
#ifdef __USART_H__
UARTSet.UARTx = UART_BOOT;
UARTSet.UART_Speed = UART_SPEED;
UARTSet.GPIOx = UART_PORT;
UARTSet.GPIO_PIN_RX = UART_PIN_RX;
UARTSet.GPIO_PIN_TX = UART_PIN_TX;
UARTSet.DMAChannel = DMA_UART_Channel;
User_UART_Init(&huart_boot, &hdma_usart_boot_rx, &UARTSet);
#endif
//Если используется SD-карта - инициализация
#ifdef __SDIO_H__
BSP_SD_ITConfig();
#endif
#ifdef __CAN_H__
MX_CAN_Init();
#endif
//Инициализация светодиодов
MX_GPIO_Init();
MX_TIM7_Init();
}
HAL_StatusTypeDef res_hal;
void Bootloader_main(void) // main function, that defines bootloader behaviour
{
/*
// Настройка доступной переферии с помощью define
Bootloader_Init();
*/
/* START APPLICATION */
if (ReadKey() == BL_KEY_APP_WRITTEN)
{
// jump to main app
//Задаётся адрес программы со смещением от начала вектора прерываний
uint32_t app_jump_adr;
app_jump_adr=*((volatile uint32_t*)(MAIN_APP_START_ADR+4));
void(*GoToApp)(void);
//Деинициализация HAL
HAL_DeInit();
GoToApp = (void (*) (void)) app_jump_adr;
//Перенос вектора прерываний на начало зашитой программы
__disable_irq();
__set_MSP(*((volatile uint32_t*)MAIN_APP_START_ADR));
__enable_irq();
//Переход к выполнению зашитой программы
GoToApp();
}
else /* START PROGRAMMING MCU */
{
/* MCU Configuration for bootloader-------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash BootloaderCMD and the Systick. */
Bootloader_Init();
FLAGS.InitOrWait = 0;
// waif for commant for programming
do{
res_hal=HAL_UART_Receive_IT(&huart_boot, ReceiveDataUART, sizeof(ReceiveDataUART));
if(res_hal!=HAL_OK){
BOOTLOADER_ERRORS_COUNTERS.USART_RECEIVE++;
BOOTLOADER_ERRORS.USART_RECEIVE=1;
}
}while(res_hal!=HAL_OK); // if usart err - try start receive again
HAL_CAN_Start(&hcan);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
CAN_FilterTypeDef canFilterConfig;
canFilterConfig.FilterBank = 0;
canFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
canFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
canFilterConfig.FilterIdHigh = 0x0000;
canFilterConfig.FilterIdLow = 0x0000;
canFilterConfig.FilterMaskIdHigh = 0x0000;
canFilterConfig.FilterMaskIdLow = 0x0000;
canFilterConfig.FilterFIFOAssignment = CAN_RX_FIFO0;
canFilterConfig.FilterActivation = ENABLE;
canFilterConfig.SlaveStartFilterBank = 14;
HAL_CAN_ConfigFilter(&hcan, &canFilterConfig);
// FLAGS.StartInit=1;
// FLAGS.reInitMCU=1;
// FLAGS.BootloaderCMD = 2;
app_current_add = MAIN_APP_START_ADR;
// HAL_CAN_Start(&hcan);
/* Infinite loop */
while (1)
{
// HAL_Delay(10);
// HAL_UART_Transmit(&huart_boot, (uint8_t *)"000000", 6, HAL_MAX_DELAY);
// choose interface for programming
if (FLAGS.StartInit)
{
if (FLAGS.reInitMCU) // if its reInit request - erase outdate app
{
GPIOB->ODR^=0x2000;
res_hal=FLASH_Erase_App();
if(res_hal!=HAL_OK)
{
FLAGS.StartInit=1;
BOOTLOADER_ERRORS.FLASH_ERASE = 1;
continue;
}
BOOTLOADER_ERRORS.FLASH_ERASE = 0;
GPIOB->ODR^=0x2000;
FLAGS.reInitMCU = 0;
}
FLAGS.StartInit = 0;
HAL_UART_AbortReceive_IT(&huart_boot);
HAL_CAN_Stop(&hcan);
HAL_CAN_DeactivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
switch ((int)FLAGS.BootloaderCMD)
{
// UART
#ifdef __USART_H__
case 1:/* UART */
FLAGS.InitBootPeriph = 1;
// start receiving app.bin
res_hal = HAL_UART_Receive_DMA(&huart_boot, Data2Write, PAGE_SIZE*2);
if(res_hal!=HAL_OK)
{
FLAGS.StartInit=1;
BOOTLOADER_ERRORS_COUNTERS.USART_RECEIVE++;
BOOTLOADER_ERRORS.USART_RECEIVE = 1;
break;
}
// code of writing app in flash in callbacks functions:
// HAL_UART_RxHalfCpltCallback and HAL_UART_RxCpltCallback
break;
#endif
#ifdef __CAN_H__
// CAN
case 2: /* CAN */
// activate can and start receiving app.bin
FLAGS.InitOrWait=1;
res_hal = HAL_CAN_Start(&hcan);
res_hal = HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING | CAN_IT_ERROR | CAN_IT_BUSOFF | CAN_IT_LAST_ERROR_CODE);
// code of writing app in flash in callback functions:
// HAL_CAN_RxFifo0MsgPendingCallback
break;
#endif
// SD
#ifdef __SDIO_H__
case 3: /* SD */
if (FLAGS.SDCardIn==0) // wait for sd-card
{
FLAGS.StartInit=1; // if there is no card, exit programmator and go in again
BOOTLOADER_ERRORS.SD_CARD_NOT_INSERTED = 1;
//Ошибка SD карты. Начать приём новой cmd
break;
}
HAL_Delay(100); // wait for inputting SD Card
if (FLAGS.SDCardIn==0)
{
FLAGS.StartInit=1;
BOOTLOADER_ERRORS.SD_CARD_NOT_INSERTED = 1;
break;
}
FRESULT res_fresult;
SD_Programming(&res_fresult, &res_hal); // programming from sd card
// res_fresual - status for sd card read // res_hal - status for flash write
//Если всё удачно - выполнить код ниже. Если нет - StartInit = 1, break
if(res_fresult!=FR_OK || res_hal!=HAL_OK)
{
FLAGS.StartInit=1;
if(res_fresult!=FR_OK){
BOOTLOADER_ERRORS_COUNTERS.SD_CARD_READ++;
BOOTLOADER_ERRORS.SD_CARD_READ = 1;
}
if(res_hal!=HAL_OK){
BOOTLOADER_ERRORS_COUNTERS.FLASH_WRITE++;
BOOTLOADER_ERRORS.FLASH_WRITE = 1;
}
break;
}
// write Key: application in Flash, and reset MCU
{
ResetKey();
SetKey();
NVIC_SystemReset();
}// reset mcu
break;
#endif
default: // if command is incorrect - wait CMD
BOOTLOADER_ERRORS_COUNTERS.CMD_INVALID++; // uncorrect command
BOOTLOADER_ERRORS.CMD_INVALID=1;
do
{
res_hal=HAL_UART_Receive_IT(&huart_boot, ReceiveDataUART, sizeof(ReceiveDataUART));
if(res_hal!=HAL_OK){
BOOTLOADER_ERRORS_COUNTERS.USART_RECEIVE++; // err when initialize uart
BOOTLOADER_ERRORS.USART_RECEIVE=1;}
}while(res_hal!=HAL_OK);
HAL_CAN_Start(&hcan);
HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING);
}
}
// TxHeader.StdId = 0x200; // ID OF MESSAGE
// TxHeader.ExtId = 0; // STANDART FRAME (NOT EXTENTED)
// TxHeader.RTR = CAN_RTR_DATA; // TRANSMIT DATA OR
// TxHeader.IDE = CAN_ID_STD; // STANDART FRAME
// TxHeader.DLC = 8; // DATA SIZE
// TxHeader.TransmitGlobalTime = DISABLE; //THIS MODE IS NOT USED, SO DISABLE
// uint8_t asd[8] = "ABCDEFGL";
// while(HAL_CAN_GetTxMailboxesFreeLevel(&hcan) == 0); // wait for free mail box
// res_hal = HAL_CAN_AddTxMessage(&hcan, &TxHeader, asd, &TxMailBox); // add to mail for transmit
// HAL_Delay(1000);
}
}
}
void SD_Programming(FRESULT *res_fresult, HAL_StatusTypeDef *res_hal)
{
// init peripth
MX_FATFS_Init();
MX_SDIO_SD_Init();
FIL MFile;
int SizeApp;
int AppCount;
// mount disk
uint8_t MOUNT=1;
*res_fresult = f_mount(&SDFatFS, (TCHAR const*)SDPath, 1);
if(*res_fresult != FR_OK) return;
// name of the application file
static char path[8] = "app.bin";
path[7] = '\0';
// OPEN AND READ
*res_fresult = f_open(&MFile, (const TCHAR*)path, FA_READ);
if (*res_fresult == FR_OK)
{
SizeApp = MFile.fsize;
AppCount = 0; // counter of written bytes
unsigned int bytesRead;
// reading and writing two pages
while(SizeApp - AppCount >= PAGE_SIZE*2) // read while count of rest bytes more than size of two pages
{
*res_fresult = f_read(&MFile, Data2Write, PAGE_SIZE*2, &bytesRead);
if(*res_fresult != FR_OK) return;
AppCount += PAGE_SIZE*2;
*res_hal = FLASH_Write_Page(&app_current_add, Data2Write, PAGE_SIZE*2);
if(*res_hal != HAL_OK) return;
GPIOB->ODR^=0x2000; // indicate written two pages
}
// reading and writing rest bytes (less than two pages)
if(SizeApp != AppCount)
{
int NumOfLastBytes = SizeApp - AppCount;
*res_fresult = f_read(&MFile, Data2Write, NumOfLastBytes, &bytesRead);
if(*res_fresult != FR_OK) return;
AppCount += PAGE_SIZE*2;
*res_hal = FLASH_Write_Page(&app_current_add, Data2Write, NumOfLastBytes);
if(*res_hal != HAL_OK) return;
GPIOB->ODR^=0x2000;
}
*res_fresult = f_close(&MFile); // indicate written two pages
}
}
void HAL_UART_RxHalfCpltCallback(UART_HandleTypeDef *huart) // writing first half of dma buffer (1 page)
{
if (huart->Instance == UART_BOOT)
{
if (FLAGS.InitOrWait)
{
HAL_StatusTypeDef res_hal;
if (FLAGS.InitBootPeriph) // if its first received page
{
//HAL_TIM_Base_Start_IT(&htim_boot); // start "wd" timer
FLAGS.InitBootPeriph = 0; // 5 sec silent on RX - mcu reset
}
res_hal = FLASH_Write_Page(&app_current_add, Data2Write, PAGE_SIZE);
if (res_hal != HAL_OK)
{
BOOTLOADER_ERRORS_COUNTERS.FLASH_WRITE++; // err when initialize uart
BOOTLOADER_ERRORS.FLASH_WRITE=1;
}
// HAL_UART_DMAStop(&huart_boot);
// HAL_UART_AbortReceive_IT(&huart_boot);
// HAL_UART_AbortReceive(&huart_boot);
FLAGS.HalfOfWrite = 1; // switch unwritten half of DMA buffer
cnt_tim_reset = 0; // upd WD Tim
GPIOB->ODR^=0x2000; // indicate written page
}
}
}
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart) // writing second half of dma buffer (1 page)
{
if (huart->Instance == UART_BOOT)
{
if (FLAGS.InitOrWait == 0) // if its wait mode (not writting app)
{
// set Init mode, start WDTim after receiving first page
Check_CMD_USART(ReceiveDataUART); // check received uart data
FLAGS.InitOrWait = 1;
FLAGS.StartInit = 1;
FLAGS.InitBootPeriph = 1;
app_current_add = MAIN_APP_START_ADR; // set adress for app
}
else
{
HAL_StatusTypeDef res_hal;
res_hal = FLASH_Write_Page(&app_current_add, Data2Write+PAGE_SIZE, PAGE_SIZE);
if (res_hal != HAL_OK)
{
BOOTLOADER_ERRORS_COUNTERS.FLASH_WRITE++; // err when initialize uart
BOOTLOADER_ERRORS.FLASH_WRITE=1;
}
FLAGS.HalfOfWrite = 0; // switch unwritten half of DMA buffer
cnt_tim_reset = 0; // upd WD Tim
GPIOB->ODR^=0x2000; // indicate written page
}
}
}
uint32_t temp_app_cur_add;
int app_size;
/*void HAL_CAN_RxFifo0MsgPendingCallback(CAN_HandleTypeDef *hcan)
{
if(HAL_CAN_GetRxMessage(hcan, CAN_RX_FIFO0, &RxHeader, CAN_Data) == HAL_OK)
{
#ifdef _CAN_PUSH_ID_TO_ADDR_
if(FLAGS.InitOrWait)
{ // if its 1 - Init: writting app.bin in flash
temp_app_cur_add = app_current_add+(RxHeader.ExtId&(0x0000FFFF));
FLASH_Write_Page(&temp_app_cur_add, CAN_Data, 8);
app_size-=8; // decrease app_size
if (app_size<=0) // when its gone - reset system and go to the app
{
__ASM("");
NVIC_SystemReset();
}
}
else
{ // if its 0 - Wait: parsing address to writting and size of app.bin
app_current_add = Data2Write[0]<<24 | Data2Write[1]<<16 | Data2Write[2]<<8 | Data2Write[3];
app_size = Data2Write[4]<<24 | Data2Write[5]<<16 | Data2Write[6]<<8 | Data2Write[7];
FLAGS.InitOrWait = 1; // switch to firmware (init)
}
#endif
if(FLAGS.InitOrWait)
{
if (FLAGS.InitBootPeriph) // if its first received page
{
HAL_TIM_Base_Start_IT(&htim_boot); // start "wd" timer
FLAGS.InitBootPeriph = 0; // 5 sec silent on RX - mcu reset
}
FLASH_Write_Page(&app_current_add, CAN_Data, 8);
cnt_tim_reset=0;
}
else
{
app_current_add = MAIN_APP_START_ADR; // set adress for app
Check_CMD_USART(CAN_Data);
FLAGS.InitBootPeriph=1;
FLAGS.InitOrWait = 1;
FLAGS.StartInit = 1;
}
}
}
*/
void HAL_CAN_ErrorCallback(CAN_HandleTypeDef *hcan)
{
uint32_t er;
er = HAL_CAN_GetError(hcan);
__ASM("");
}
void Bootloader_TIM_Handler(void) // reset mcu after writing application is done
{ // add this to the TIM handler that is used (TIMx is seting up in project_setup.h)
HAL_StatusTypeDef res_fresult;
cnt_tim_reset++;
if (cnt_tim_reset > 5) // writing is done if there is silence on Rx for 5 second
{
if(FLAGS.BootloaderCMD==1)
{
FLAGS.InitMCUReady = 1;
ResetKey();
SetKey(); // write key for going to application
int NumOfLastBytes = (PAGE_SIZE - DMA1_Channel3->CNDTR%PAGE_SIZE); // read size of new data in dma buffer
if (NumOfLastBytes != 0)
{
res_fresult = FLASH_Write_Page(&app_current_add, Data2Write+PAGE_SIZE*FLAGS.HalfOfWrite, NumOfLastBytes); // writing last data
}
NVIC_SystemReset(); // reset mcu
}
else if(FLAGS.BootloaderCMD==2)
{
FLAGS.InitMCUReady = 1;
ResetKey();
SetKey();
NVIC_SystemReset();
}
}
}
void Check_CMD_USART(uint8_t *DataUART) // choose CMD (interface)
{ // 4 byte: 0xFF - erase app, else - just write app
//USART
if ((DataUART[0]|
DataUART[1]<<8|
DataUART[2]<<16) == 0xFFFFFF)
{
FLAGS.BootloaderCMD = 1;
}
//CAN
else if ((DataUART[0]|
DataUART[1]<<8|
DataUART[2]<<16) == 0xAAAFFF)
{
FLAGS.BootloaderCMD = 2;
}
//SDIO
else if ((DataUART[0]|
DataUART[1]<<8|
DataUART[2]<<16) == 0xAAFAFF)
{
FLAGS.BootloaderCMD = 3;
BSP_SD_DetectIT();
}
if (DataUART[3]== 0xFF)
{
FLAGS.reInitMCU = 1;
}
else
{
FLAGS.reInitMCU = 0;
}
}
// reset/set key function
void SetKey(void)
{
HAL_FLASH_Unlock();
HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, BOOTLOADER_KEY_ADR, BL_KEY_APP_WRITTEN);
HAL_FLASH_Lock();
}
uint32_t ReadKey(void)
{
return (*(__IO uint32_t*)BOOTLOADER_KEY_ADR);
}
void ResetKey(void)
{
HAL_FLASH_Unlock();
uint32_t PageError = 0x00;
EraseInitStruct.TypeErase = FLASH_TYPEERASE_PAGES;// erase pages
EraseInitStruct.PageAddress = BOOTLOADER_KEY_ADR; //address
EraseInitStruct.NbPages = 0x01;// num of erased pages
HAL_FLASHEx_Erase(&EraseInitStruct, &PageError);
HAL_FLASH_Lock();
}
HAL_StatusTypeDef BSP_SD_ITConfig(void)
{
/* Code to be updated by the user or replaced by one from the FW pack (in a stmxxxx_sd.c file) */
GPIO_InitTypeDef gpio_init_structure;
/* Configure Interrupt mode for SD detection pin */
gpio_init_structure.Pin = SDIO_SDCard_In_PIN;
gpio_init_structure.Pull = GPIO_PULLUP;
gpio_init_structure.Speed = GPIO_SPEED_HIGH;
gpio_init_structure.Mode = GPIO_MODE_IT_RISING_FALLING;
HAL_GPIO_Init(SDIO_SDCard_In_PORT, &gpio_init_structure);
/* Enable and set SD detect EXTI Interrupt to the lowest priority */
HAL_NVIC_SetPriority((SDIO_SDCard_In_IRQn), 0x00, 0x00);
HAL_NVIC_EnableIRQ((SDIO_SDCard_In_IRQn));
return HAL_OK;
// return (uint8_t)0;
}
void BSP_SD_DetectIT(void)
{ // add this to the EXTI handler that is used (EXTIx (GPIO_PIN_x) is seting up in project_setup.h)
if(SDIO_SDCard_In_PORT->IDR&SDIO_SDCard_In_PIN)
FLAGS.SDCardIn = 0;
else
FLAGS.SDCardIn = 1;
}
void Boot_SystemClock_Config(void)
{
RCC_OscInitTypeDef RCC_OscInitStruct = {0};
RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
/** 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_DIV2;
RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL16;
if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != 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_DIV2;
RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
{
Error_Handler();
}
HAL_RCC_MCOConfig(RCC_MCO, RCC_MCO1SOURCE_PLLCLK, RCC_MCODIV_1);
}
Reference in New Issue Copy Permalink