Razvalyaev
320cce09ec
отправка ошибок бутлоадера по uart/can проверка crc принятой страницы проверка на бесконечное попадание в hardfault в целом структура бута все еще в процессе разработки
134 lines
4.1 KiB
C
134 lines
4.1 KiB
C
#include "boot_can.h"
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CAN_HandleTypeDef hcan_boot;
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/**
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* @brief Инициализация CAN для бутлоадера (по defines)
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*/
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void MX_BOOT_CAN_Init(void)
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{
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GPIO_InitTypeDef GPIO_InitStruct = {0};
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CAN_FilterTypeDef sFilterConfig;
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/* Включаем тактирование */
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__RCC_CAN_BOOT_CLK_ENABLE();
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__RCC_CAN_PORT_CLK_ENABLE();
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/* Настройка пинов RX/TX */
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GPIO_InitStruct.Pin = CAN_PIN_RX;
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GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
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GPIO_InitStruct.Pull = GPIO_NOPULL;
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HAL_GPIO_Init(CAN_PORT, &GPIO_InitStruct);
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GPIO_InitStruct.Pin = CAN_PIN_TX;
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GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
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GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_HIGH;
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HAL_GPIO_Init(CAN_PORT, &GPIO_InitStruct);
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/* Настройка CAN */
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hcan_boot.Instance = CAN_BOOT;
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hcan_boot.Init.Prescaler = CAN_SPEED_PRESCALER;
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hcan_boot.Init.Mode = CAN_MODE;
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hcan_boot.Init.SyncJumpWidth = CAN_SJW_1TQ;
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hcan_boot.Init.TimeSeg1 = CAN_SPEED_BS1;
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hcan_boot.Init.TimeSeg2 = CAN_SPEED_BS2;
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hcan_boot.Init.TimeTriggeredMode = DISABLE;
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hcan_boot.Init.AutoBusOff = DISABLE;
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hcan_boot.Init.AutoWakeUp = DISABLE;
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hcan_boot.Init.AutoRetransmission = ENABLE;
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hcan_boot.Init.ReceiveFifoLocked = DISABLE;
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hcan_boot.Init.TransmitFifoPriority = DISABLE;
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if (HAL_CAN_Init(&hcan_boot) != HAL_OK)
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{
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Error_Handler();
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}
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/* Настройка фильтра: пропускать все сообщения */
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sFilterConfig.FilterBank = 0;
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sFilterConfig.FilterMode = CAN_FILTERMODE_IDMASK;
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sFilterConfig.FilterScale = CAN_FILTERSCALE_32BIT;
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sFilterConfig.FilterIdHigh = 0x0000;
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sFilterConfig.FilterIdLow = 0x0000;
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sFilterConfig.FilterMaskIdHigh = 0x0000;
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sFilterConfig.FilterMaskIdLow = 0x0000;
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sFilterConfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
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sFilterConfig.FilterActivation = ENABLE;
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if (HAL_CAN_ConfigFilter(&hcan_boot, &sFilterConfig) != HAL_OK)
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{
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Error_Handler();
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}
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/* Запускаем CAN */
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if (HAL_CAN_Start(&hcan_boot) != 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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// CAN: приём страницы + CRC с таймаутом
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// -----------------------------
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void Bootloader_CAN_Receive_Page(Bootloader_t *bl)
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{
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uint16_t bytes_received = 0;
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CAN_RxHeaderTypeDef canHeader;
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uint8_t canData[8];
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uint32_t start_tick = HAL_GetTick();
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// Приём страницы прошивки
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while(bytes_received < PAGE_SIZE)
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{
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if(HAL_CAN_GetRxFifoFillLevel(bl->hcan, CAN_RX_FIFO0) > 0)
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{
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if(HAL_CAN_GetRxMessage(bl->hcan, CAN_RX_FIFO0, &canHeader, canData) == HAL_OK)
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{
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uint8_t len = canHeader.DLC;
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if(bytes_received + len > PAGE_SIZE)
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len = PAGE_SIZE - bytes_received;
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memcpy(&bl->fw_buffer[bytes_received], canData, len);
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bytes_received += len;
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start_tick = HAL_GetTick(); // сброс таймера
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}
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}
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// проверка таймаута
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if(HAL_GetTick() - start_tick >= FW_RECEIVE_TIMEOUT_MS)
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{
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bl->error.bit.timeout_receive = 1;
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bl->state = BL_STATE_ERROR;
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return;
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}
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}
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// Приём CRC (4 байта)
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while(1)
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{
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if(HAL_CAN_GetRxFifoFillLevel(bl->hcan, CAN_RX_FIFO0) > 0)
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{
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if(HAL_CAN_GetRxMessage(bl->hcan, CAN_RX_FIFO0, &canHeader, canData) == HAL_OK)
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{
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// CRC в первых 4 байтах пакета
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bl->fw_crc = (canData[0] << 24) |
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(canData[1] << 16) |
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(canData[2] << 8) |
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canData[3];
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break;
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}
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}
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if(HAL_GetTick() - start_tick >= FW_RECEIVE_TIMEOUT_MS)
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{
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bl->error.bit.timeout_receive = 1;
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bl->state = BL_STATE_ERROR;
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return;
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}
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}
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bl->fw_len = PAGE_SIZE;
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bl->state = BL_STATE_IDLE;
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}
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