GD32_BOOT/Robot_V2/main.cpp

#include "main.h"
#include "Can.h"
#include "config.h"
#include "gd32c10x.h"
#include "initial.h"
#include "sys/OTA.h"
#include "sys/initial.h"
#include "sys/systick.h"
#include <cstdio>
#include <gd32c10x_fmc.h>

extern CAN_transmiter CAN0_transmiter; // CAN初始化
BootloaderSystem sys;
extern OTAHandler ota;

void BootloaderSystem::initHardware() {
	systick_config(); // 系统时钟初始化
	USART0_init();	  // 调试串口初始化

	CAN0_transmiter.init();
	check_sleep();
}

void BootloaderSystem::run() {
	volatile u32 *flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
	u32 app_enable = *flash_ptr;
	flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
	u32 app_check = *flash_ptr;
	if (app_check == OTA_AVAL and
		app_enable == OTA_AVAL) { // APP已确认且激活，直接进入
#if DEBUG_OTA
		printf("Normal Mode\r\n");
#endif
		// 正常模式：跳转到APP
		ota.jumpToApplication();
	} else if (app_check == OTA_AVAL and
			   app_enable == OTA_NOT_AVAL) { // APP可用但未激活，延迟进入APP
#if DEBUG_OTA
		printf("Delay Boot Mode: APP available but not enabled, jumping in %d ms...\r\n", APP_DELAY_BOOT_TIME);
#endif
		// 延迟启动模式：倒计时期间监听CAN，收到OTA请求则进入OTA模式
		u32 delay_count = 0;
		bool ota_requested = false;

		while (delay_count < APP_DELAY_BOOT_TIME) {
			// 检查CAN通信并处理接收到的消息
			CAN0_transmiter.communication_check();

			// 调用ota.process()发送心跳消息（IDAEL状态下会发送CANFD_OTA_WAIT_ID）
			ota.process();

			// 检查是否收到OTA请求
			if (ota.isActive()) {
				ota_requested = true;
				break;
			}

			delay_count+=10;
		}

		if (ota_requested) {
#if DEBUG_OTA
			printf("OTA request received during delay, entering OTA mode...\r\n");
#endif
			// 收到OTA请求，进入OTA模式
			while (1) {
				CAN0_transmiter.communication_check();
				ota.process();
			}
		} else {
#if DEBUG_OTA
			printf("Delay timeout, jumping to APP...\r\n");
#endif
			// 超时未收到OTA请求，跳转APP
			ota.jumpToApplication();
		}
	} else { // APP无效，确认backup
		volatile u32 *flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
		u32 back_aval = *flash_ptr;
		flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
		u32 back_check = *flash_ptr;
		if (back_check == OTA_AVAL and
			back_aval == OTA_AVAL) { // backup已确认且激活，复制到主APP区域
#if DEBUG_OTA
			printf("OTA Mode3\r\n");
#endif
			CAN0_transmiter.sendBackup();
			move_app_data();		 // 恢复BACKUP
			ota.jumpToApplication(); // 跳转到APP
		} else { // backup无效，进入OTA模式
#if DEBUG_OTA
			printf("OTA Mode4\r\n");
#endif
			// OTA模式
			while (1) {
				CAN0_transmiter.communication_check();
				ota.process();
			}
		}
	}
}

int main(void) {
	sys.initHardware();
	// test_decrypt();
	sys.run();

	while (1)
		; // 不应该执行到这里
}