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修复BOOT丢帧问题，优化标志位的存储

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cbb
2026-03-08 01:08:27 +08:00
parent 1e6d47ddae
commit 26cf5af14f
65 changed files with 2290 additions and 2174 deletions
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Robot_V2/.clangd
+411 -411
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@@ -1,417 +1,417 @@
CompileFlags:
CompilationDatabase: g:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Release
CompilationDatabase: g:\Robot_v2\BOOT\out\Robot_V2\GD32C103CB\Debug
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- "-D__WINT_WIDTH__=32\r\n"
- "-D__arm=1\r\n"
- "-D__arm__=1\r\n"
- "-D__clang__=1\r\n"
- "-D__clang_literal_encoding__=\"UTF-8\"\r\n"
- "-D__clang_major__=20\r\n"
- "-D__clang_minor__=0\r\n"
- "-D__clang_patchlevel__=0\r\n"
- "-D__clang_version__=\"20.0.0git \"\r\n"
- "-D__clang_wide_literal_encoding__=\"UTF-16\"\r\n"
- "-D__llvm__=1\r\n"
- "-D__thumb2__=1\r\n"
- "-D__thumb__=1\r\n"
- '-D__ARMCOMPILER_LIBCXX=1'
- '-IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_GD32C103CB'
- '-IG:/Robot_v2/BOOT/Robot_V2/RTE/_Debug_GD32C103CB'
- '-IC:/Users/cbb/AppData/Local/arm/packs/ARM/CMSIS/4.5.0/CMSIS/Include'
- >-
-IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Firmware/Peripherals/inc
Robot_V2/RTE/Device/GD32C103CB/regions_GD32C103CB.h
+1 -1
View File
@@ -17,7 +17,7 @@
#define __ROM0_BASE 0x08000000
// <o> Region size [bytes] <0x0-0xFFFFFFFF:8>
// <i> Defines size of memory region. Default: 0x00020000
#define __ROM0_SIZE 0x08005000
#define __ROM0_SIZE 0x08006000
// </h>
// <h> __ROM1 (unused)
Robot_V2/device/Can.cpp
+31 -22
View File
@@ -6,8 +6,6 @@
#include "gd32c10x_dma.h"
#include "gd32c10x_gpio.h"
#include "main.h"
#include <cstdlib>
#include <cstring>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
@@ -176,6 +174,10 @@ u8 CAN_transmiter::init() {
/* initialize receive message */
can_struct_para_init(CAN_RX_MESSAGE_STRUCT, &receive_message);
// 初始化计数器和标志位
can0_receive_count = 0;
can0_send_flag = RESET;
// 初始化DMA缓冲区
memset(can_rx_buffer, 0, sizeof(can_rx_buffer));
memset(can_tx_buffer, 0, sizeof(can_tx_buffer));
@@ -184,28 +186,20 @@ u8 CAN_transmiter::init() {
/**
* @brief CAN通信检查函数
* @retval 0: 无新消息
* 1: 有新消息
* @retval 无
*/
void CAN_transmiter::communication_check() {
// CAN0 发送数据标志
if (SET == can0_send_flag) {
can0_send_flag = RESET;
}
// CAN0 接收数据标志
if (SET == can0_receive_flag) {
if (receive_message.rx_efid == CANFD_OTA_DATA_ID or
receive_message.rx_efid == CANFD_OTA_REQ_ID) {
ota.handleOTAMessage(receive_message.rx_efid,
receive_message.rx_data,
receive_message.rx_dlen);
} else {
#if CAN_DEBUG
printf("Unknown CAN ID: %X\n", receive_message.rx_efid);
#endif
}
can0_receive_flag = RESET;
// CAN0 接收数据计数器
if (can0_receive_count > 0) {
can0_receive_count--;
// 处理OTA消息（中断处理程序已确保只接收OTA相关ID）
ota.handleOTAMessage(receive_message.rx_efid,
receive_message.rx_data,
receive_message.rx_dlen);
}
}
@@ -225,7 +219,6 @@ u8 CAN_transmiter::sendBackup() { // 握手的时候
return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 0, transmit_data);
}
u8 CAN_transmiter::sendDATA_ACK(u32 packet_num,
bool if_success) { // 发送数据的时候
memset(transmit_data, 0, 4);
@@ -255,10 +248,26 @@ void CAN0_RX0_IRQHandler(void) {
dma_channel_enable(DMA0, DMA_CH4);
// 读取接收到的数据
can_message_receive(CAN0, CAN_FIFO0, &CAN0_transmiter.receive_message);
can_receive_message_struct temp_message;
can_message_receive(CAN0, CAN_FIFO0, &temp_message);
// 接收标志位置1
CAN0_transmiter.can0_receive_flag = SET;
// 只处理指定的OTA相关ID（硬件过滤器已经确保只接收这些ID）
if (temp_message.rx_efid == CANFD_OTA_DATA_ID ||
temp_message.rx_efid == CANFD_OTA_REQ_ID ||
temp_message.rx_efid == CANFD_OTA_ACK_ID ||
temp_message.rx_efid == CANFD_OTA_WAIT_ID ||
temp_message.rx_efid == CANFD_OTA_CANCEL_ID) {
// 将消息复制到接收缓冲区
CAN0_transmiter.receive_message = temp_message;
// 增加待处理消息计数器
if (CAN0_transmiter.can0_receive_count < 255) {
CAN0_transmiter.can0_receive_count++;
}
} else {
#if CAN_DEBUG
printf("Unknown CAN ID: %X\n", temp_message.rx_efid);
#endif
}
}
// 检查其他可能的中断源
Robot_V2/device/Can.h
+2 -3
View File
@@ -1,13 +1,12 @@
#ifndef _CAN_H
#define _CAN_H
#include <stdint.h>
#include "cstdint"
#ifdef __cplusplus
extern "C" {
#endif
#include "gd32c10x_can.h"
#include "stdint.h"
#include <stdio.h>
u8 can_gpio_init(void); // CAN引脚初始化
@@ -32,7 +31,7 @@ class CAN_transmiter {
u8 init(void);
can_receive_message_struct receive_message; // 接收消息结构体
FlagStatus can0_receive_flag; // CAN0接收标志
u8 can0_receive_count; // CAN0待处理消息计数器
FlagStatus can0_send_flag; // CAN0发送标志
void communication_check(); // 通信检查
Robot_V2/main.cpp
+8 -8
View File
@@ -15,7 +15,7 @@ extern OTAHandler ota;
void BootloaderSystem::initHardware() {
systick_config(); // 系统时钟初始化
// USART0_init(); // 调试串口初始化
USART0_init(); // 调试串口初始化
CAN0_transmiter.init();
check_sleep();
@@ -28,14 +28,14 @@ void BootloaderSystem::run() {
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 OTA_DEBUG
#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) { // 手动禁用APP，进入OTA模式
#if OTA_DEBUG
#if DEBUG_OTA
printf("OTA Mode1\r\n");
#endif
// OTA模式
@@ -50,14 +50,14 @@ void BootloaderSystem::run() {
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 OTA_DEBUG
#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 OTA_DEBUG
} else { // backup无效，进入OTA模式
#if DEBUG_OTA
printf("OTA Mode4\r\n");
#endif
// OTA模式
@@ -68,12 +68,12 @@ void BootloaderSystem::run() {
}
}
}
int main(void) {
sys.initHardware();
// scanAppFlashContent();
// test_decrypt();
sys.run();
while (1)
; // 不应该执行到这里
}
}
Robot_V2/main.h
+1
View File
@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#ifndef MAIN_H
#define MAIN_H
#include "cstdint"
#include "stdint.h"
#include "sys/OTA.h"
Robot_V2/sys/OTA.cpp
+60 -52
View File
@@ -2,11 +2,11 @@
#include "Can.h"
#include "aes128.h"
#include "config.h"
#include "core_cmFunc.h"
#include "gd32c10x.h" // 主头文件，包含了gd32c10x_crc.h的内容
#include "gd32c10x_fmc.h"
#include "initial.h"
#include "systick.h"
#include <cstdio>
#include <cstring>
#include <stdint.h>
extern CAN_transmiter CAN0_transmiter; // CAN初始化
@@ -28,13 +28,14 @@ inline fmc_state_enum write_ADDRESS(u32 address, u32 data) {
/**
* @brief 设置OTA配置参数到Flash
*
*
* 此函数用于更新存储在Flash中的OTA相关标志位（如APP可用、启用、校验等）。
* GD32的Flash特性是：只能将1写为0，不能将0写为1。若要将0变为1，必须先擦除整个页面。
* 因此，本函数通过读取同一页内的所有参数，擦除该页，然后重新写入有效的参数来实现“写1”操作。
*
*
* @param addr: 要设置的Flash地址
* @param data: 要写入的数据 (通常为OTA_AVAL=0x00000000 或 OTA_NOT_AVAL=0xFFFFFFFF)
* @param data: 要写入的数据 (通常为OTA_AVAL=0x00000000 或
* OTA_NOT_AVAL=0xFFFFFFFF)
* @retval FLASH_EEPROM_OK (0) 表示成功, 其他值表示失败
*/
u8 OTA_SET(u32 addr, u32 data) {
@@ -59,7 +60,6 @@ u8 OTA_SET(u32 addr, u32 data) {
}
// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
// 首先读取同一页内所有相关配置参数的当前状态
flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
temp_val[0] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
@@ -74,11 +74,12 @@ u8 OTA_SET(u32 addr, u32 data) {
temp_val[5] = *flash_ptr;
#if EEP_DEBUG
printf("OTA_SET - Start updating configuration\r\n");
printf("OTA_prepare write%08x at %08x\r\n", data, addr);
// 修复：完整输出所有6个配置项的值，便于调试
printf("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4], temp_val[5]);
temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
temp_val[5]);
#endif
// 4. 擦除包含所有配置参数的Flash页
@@ -90,35 +91,37 @@ u8 OTA_SET(u32 addr, u32 data) {
return FLASH_EEPROM_ERROR;
}
// 5. 重新写入所有之前为有效(OTA_AVAL)的配置项
// 注意：不包括当前正在设置的地址，因为它将在最后单独处理
// 5. 重新写入所有之前读取的配置项值，只有0改F需要写，所以最后不用写
for (int i = 0; i < OTA_CONFIG_NUM; i++) {
u32 current_addr = n_APP_LATEST_AVAL_ADDR + 4 * i;
if (temp_val[i] == OTA_AVAL && current_addr != addr) {
fmc_status = write_ADDRESS(current_addr, OTA_AVAL);
if (fmc_status != FMC_READY) {
#if EEP_DEBUG
printf("OTA_SET - Write backup value failed at 0x%08X!\r\n", current_addr);
#endif
return FLASH_EEPROM_ERROR;
}
if (current_addr != addr and temp_val[i] != OTA_NOT_AVAL) {
fmc_status = write_ADDRESS(current_addr, temp_val[i]);
}
}
// 6. 最后，写入本次调用的目标数据
// 即使addr为0（理论上无效），也检查一下以避免潜在问题
if (addr != 0) {
fmc_status = write_ADDRESS(addr, data);
if (fmc_status != FMC_READY) {
#if EEP_DEBUG
printf("OTA_SET - Final write to target address 0x%08X failed!\r\n", addr);
// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
temp_val[0] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
temp_val[1] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
temp_val[2] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
temp_val[3] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
temp_val[4] = *flash_ptr;
flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
temp_val[5] = *flash_ptr;
// 修复：完整输出所有6个配置项的值，便于调试
printf("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
temp_val[5]);
#endif
return FLASH_EEPROM_ERROR;
}
}
return FLASH_EEPROM_OK;
}
/**
* @brief 从4字节数组中提取一个32位无符号整数
* @param array: 4字节数组
@@ -208,12 +211,7 @@ void OTAHandler::jumpToApplication() {
#if DEBUG_OTA
printf("try jump to app\r\n");
if (!validateApplication()) {
printf("app valid failed\r\n");
return;
} else {
printf("valid result:successful\r\n");
u8 check_data[2] = {0x0A, 0xAC};
CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 2, check_data);
}
printf("jumping1\r\n");
#endif
@@ -222,8 +220,6 @@ void OTAHandler::jumpToApplication() {
OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL); // 设置APP为激活
fmc_lock();
// 1. 关闭所有中断
__disable_irq();
for (int i = 0; i < 8; i++) {
NVIC->ICER[i] = 0xFFFFFFFF;
}
@@ -260,9 +256,7 @@ void OTAHandler::jumpToApplication() {
printf("jumping5, MSP:0x%08X, Reset Handler:0x%08X\r\n", msp_value,
reset_handler);
#endif
__set_MSP(msp_value);
// 在跳转前清除复位标志
rcu_all_reset_flag_clear();
// 7. 跳转
@@ -280,35 +274,39 @@ void OTAHandler::jumpToApplication() {
* @retval 无
*/
void OTAHandler::eraseApplicationArea() {
// 擦除APP区域
fmc_unlock();
OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_NOT_AVAL); // 设置APP为未确认
OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置APP为未激活
OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_NOT_AVAL); // 设置APP为不可用
// 擦除前禁用中断，防止中断处理程序执行期间发生Flash操作导致问题
__disable_irq();
fmc_unlock();
fmc_state_enum fmc_status;
for (u32 addr = APPLATEST_START_ADDR;
addr < (APPLATEST_START_ADDR + APP_MAX_SIZE); addr += FMC_PAGE_SIZE) {
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
fmc_status = fmc_page_erase(addr);
if (fmc_status != FMC_READY) {
// 如果擦除失败，记录错误并退出
#if DEBUG_OTA
printf("Flash erase failed at address 0x%08X, status: %d\r\n", addr,
fmc_status);
delay_1ms(5000);
#endif
ota_error = OTA_ERROR_FLASH_ERROR;
send_error_frame(OTA_ERROR_FLASH_ERROR);
break;
} else {
#if DEBUG_OTA
printf("Flash erase SUCCESS\r\n");
#endif
}
}
// 重新启用中断
__enable_irq();
fmc_lock();
}
@@ -322,13 +320,17 @@ void OTAHandler::eraseApplicationArea() {
void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
fmc_unlock();
u32 write_addr = APPLATEST_START_ADDR + offset;
fmc_state_enum fmc_state;
u32 i = 0;
u8 *src = data;
// 32位对齐写入 - 处理完整的32位字
for (; i <= size - 4; i += 4) {
fmc_word_program(write_addr + i, *(u32 *)&src[i]);
fmc_state = fmc_word_program(write_addr + i, *(u32 *)&src[i]);
if (fmc_state != FMC_READY) {
printf("FMC_WRITE_ERROR\r\n");
}
}
// 处理剩余字节（如果有的话）
@@ -355,7 +357,16 @@ void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
* @retval 无
*/
void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
if (id == CANFD_OTA_DATA_ID) {
if (id == CANFD_OTA_CANCEL_ID) {
// 取消OTA过程
ota_state = OTA_STATE_IDLE;
ota_time = 0;
ota_error = OTA_ERROR_NONE;
#if DEBUG_OTA
printf("OTA process cancelled by CANFD_OTA_CANCEL_ID\r\n");
#endif
return;
} else if (id == CANFD_OTA_DATA_ID) {
ota_time = 0;
if (len == 64 and ota_state == OTA_STATE_RECEIVING_FIRMWARE) {
#if DEBUG_OTA
@@ -435,7 +446,6 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
}
u8 send_data[6] = {0xBA, 0xC0, 0x00,
0x00, 0x00, 0x00}; // 确认开始传输
eraseApplicationArea();
// 发送接收包0请求
CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data);
@@ -444,10 +454,7 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
#if DEBUG_OTA
printf("stage--:OTA_STATE_FINISHED\r\n");
#endif
u8 send_data[2] = {0x0A, 0xAC}; // 确认开始传输
// 4. 验证成功 - 发送最终ACK
CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 2, send_data);
;
} else {
ota_error = OTA_ERROR_INVALID_PACKET;
ota_state = OTA_STATE_IDLE;
@@ -602,6 +609,7 @@ void getDeviceSerialNumberString(char *str) {
fmc_state_enum move_app_data() {
fmc_state_enum fmc_status = FMC_READY;
scanAppFlashContent();
// 关闭全局中断以防止Flash操作期间的中断干扰
__disable_irq();
fmc_unlock();
@@ -628,7 +636,7 @@ fmc_state_enum move_app_data() {
// 复制数据 - 按字（32位）进行复制以提高效率
uint32_t offset = 0;
uint32_t write_count = 0; // 记录实际写入的字数
const uint32_t *src_ptr = (const uint32_t *)APPBACK_START_ADDR; // 从备份区域读取
const uint32_t *src_ptr = (const uint32_t *)APPBACK_START_ADDR;
// 预计算源数据的CRC，避免重复访问内存
crc_deinit();
@@ -637,7 +645,7 @@ fmc_state_enum move_app_data() {
APP_MAX_SIZE / 4);
while (offset < APP_MAX_SIZE) {
uint32_t src_data = src_ptr[offset / 4]; // 从备份区域读取数据
uint32_t src_data = src_ptr[offset / 4];
// 检查源地址是否为有效的Flash数据（非0xFFFFFFFF表示有数据）
if (src_data != 0xFFFFFFFF) {
@@ -646,7 +654,7 @@ fmc_state_enum move_app_data() {
FMC_FLAG_PGERR);
fmc_status =
fmc_word_program(APPLATEST_START_ADDR + offset, src_data); // 写入到最新APP区域
fmc_word_program(APPLATEST_START_ADDR + offset, src_data);
// 检查写入操作是否成功
if (fmc_status != FMC_READY) {
@@ -763,4 +771,4 @@ void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data,
output[1] = (uint8_t)(crc >> 8);
output[2] = (uint8_t)(crc >> 16);
output[3] = (uint8_t)(crc >> 24);
}
}
Robot_V2/sys/aes128.h
+1 -2
View File
@@ -1,7 +1,6 @@
#ifndef __AES_H
#define __AES_H
#include <stdint.h>
#include "cstdint"
#include <string.h>
// AES-128 密钥长度 (16 bytes)
Robot_V2/sys/config.h
+13 -13
View File
@@ -2,20 +2,20 @@
#define __CONFIG_H__
#include "stdint.h"
#define EEPDEBUG 0
#define EEP_DEBUG 0
#define DEBUG_OTA 0
#define CAN_DEBUG 0
#define SLEEP_DEBUG 0
// Flash分区配置
constexpr u32 BOOTLOADER_SIZE = 0x4000; // 16KB
constexpr u32 BOOTLOADER_SIZE = 0x6000; // 24KB
constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址
constexpr u32 APPLATEST_START_ADDR = 0x08011000; // APP起始地址
constexpr u32 APPBACK_START_ADDR = 0x08005000; // APPBACK起始地址
constexpr u32 APPLATEST_START_ADDR = 0x08012000; // APP起始地址
constexpr u32 APPBACK_START_ADDR = 0x08006000; // APPBACK起始地址
constexpr u32 APP_MAX_SIZE = 0xC000; // 48KB
constexpr u32 FMC_PAGE_SIZE = 0x400; // 1KB
constexpr u32 SLEEP_CONFIG_START = 0x0801D400; // 睡眠配置起始地址
constexpr u32 SLEEP_CONFIG_END = 0x0801D800; // 睡眠配置结束地址
constexpr u32 SLEEP_CONFIG_START = 0x0801E400; // 睡眠配置起始地址
constexpr u32 SLEEP_CONFIG_END = 0x0801E800; // 睡眠配置结束地址
constexpr u32 FLASH_EMPTY = 0xFFFFFFFF; // 空数据
constexpr u32 SLEEP_ENABLE = 0x11111111; // 睡眠使能
constexpr u32 SLEEP_DISABLE = 0x00000000; // 睡眠禁止
@@ -23,12 +23,12 @@ constexpr u32 SLEEP_DISABLE = 0x00000000; // 睡眠禁止
// BOOT 相关
constexpr u32 OTA_CONFIG_NUM = 6;
constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801D000; // 最新APP可用地址
constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801D004; // 备份APP可用地址
constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801D008; // 最新APP激活
constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801D00C; // 备份APP激活
constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801D010; // 最新APP校验
constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801D014; // 备份APP校验
constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801E000; // 最新APP可用地址
constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801E004; // 备份APP可用地址
constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801E008; // 最新APP激活
constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801E00C; // 备份APP激活
constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801E010; // 最新APP校验
constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801E014; // 备份APP校验
constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;
constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用
constexpr u32 FLASH_EEPROM_OK = 0;
@@ -60,7 +60,7 @@ constexpr uint8_t K_master[16] = {0x01, 0x23, 0x45, 0x67, 0x89, 0xAB,
0xCD, 0xEF, 0xFE, 0xDC, 0xBA, 0x98,
0x76, 0x54, 0x32, 0x10}; // 预置主密钥
// 其他
constexpr u32 OTA_TIMEOUT = 100000;
constexpr u32 OTA_TIMEOUT = 10000;
constexpr u8 SIZE_U32 = sizeof(uint32_t);
constexpr u8 SIZE_FLOAT = sizeof(float);
#endif
Robot_V2/sys/flash.cpp
+1 -1
View File
@@ -35,7 +35,7 @@ u8 FlashEEPROM::init() {
*/
FlashEepromStatus FlashEEPROM::format() {
fmc_state_enum fmc_status;
#if EEPDEBUG
#if EEP_DEBUG
printf("擦除页面\r\n");
#endif
Robot_V2/sys/initial.cpp
+43 -45
View File
@@ -19,7 +19,6 @@ u8 USART0_init() {
return 1;
}
int fputc(int ch, FILE *f) throw() {
usart_data_transmit(EVAL_COM0, (uint8_t)ch);
while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
@@ -48,7 +47,7 @@ void unused_pin_init() {
* @param page_count 扫描的页数，默认为0表示扫描整个APP区域
* @retval 无
*/
void scanAppFlashContent(bool print_content = true, u32 page_count = 0) {
void scanAppFlashContent(bool print_content, u32 page_count) {
u32 start_addr = APPLATEST_START_ADDR;
u32 total_size = 0xC000;
@@ -86,48 +85,48 @@ void scanAppFlashContent(bool print_content = true, u32 page_count = 0) {
} else {
data_pages++;
// 只有在非空页面且需要打印时才输出内容
if (print_content) {
printf("Page 0x%08X: \r\n", addr);
// // 只有在非空页面且需要打印时才输出内容
// if (print_content) {
// printf("Page 0x%08X: \r\n", addr);
// 打印所有内容
for (u32 offset = 0; offset < FMC_PAGE_SIZE;
offset += 16) { // 每行打印16字节
// 打印地址偏移
printf(" +%03X: ", offset);
// // 打印所有内容
// for (u32 offset = 0; offset < FMC_PAGE_SIZE;
// offset += 16) { // 每行打印16字节
// // 打印地址偏移
// printf(" +%03X: ", offset);
// 打印十六进制数据
for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
if ((offset + byte_idx) < FMC_PAGE_SIZE) {
u8 data = *(__IO u8 *)(addr + offset + byte_idx);
printf("%02X ", data);
} else {
printf(" "); // 空白填充
}
// // 打印十六进制数据
// for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
// if ((offset + byte_idx) < FMC_PAGE_SIZE) {
// u8 data = *(__IO u8 *)(addr + offset + byte_idx);
// printf("%02X ", data);
// } else {
// printf(" "); // 空白填充
// }
// 每8字节加个小空格，便于阅读
if (byte_idx == 7) {
printf(" ");
}
}
// // 每8字节加个小空格，便于阅读
// if (byte_idx == 7) {
// printf(" ");
// }
// }
// 打印可打印字符
printf("|");
for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
if ((offset + byte_idx) < FMC_PAGE_SIZE) {
u8 data = *(__IO u8 *)(addr + offset + byte_idx);
if (data >= 32 && data <= 126) { // 可打印字符范围
printf("%c", data);
} else {
printf(".");
}
} else {
printf(" "); // 空白填充
}
}
printf("|\r\n");
}
}
// // 打印可打印字符
// printf("|");
// for (u32 byte_idx = 0; byte_idx < 16; byte_idx++) {
// if ((offset + byte_idx) < FMC_PAGE_SIZE) {
// u8 data = *(__IO u8 *)(addr + offset + byte_idx);
// if (data >= 32 && data <= 126) { // 可打印字符范围
// printf("%c", data);
// } else {
// printf(".");
// }
// } else {
// printf(" "); // 空白填充
// }
// }
// printf("|\r\n");
// }
// }
}
page_count_scanned++;
@@ -177,11 +176,10 @@ void enter_deep_sleep() {
pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD);
}
/**
* @brief 写地址
* @return fmc_state_enum
*/
/**
* @brief 写地址
* @return fmc_state_enum
*/
fmc_state_enum write_ADDRESS(u32 address, u32 data) {
fmc_unlock();
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
Robot_V2/sys/initial.h
+2 -1
View File
@@ -6,7 +6,7 @@ extern "C" {
#endif
#include "gd32c10x_eval.h"
#include "stdint.h"
#include "cstdint"
#include <stdio.h>
int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现
@@ -18,6 +18,7 @@ void print_system_clock_info(void);
void enter_deep_sleep(void);
int check_sleep(void);
void EXTI5_9_IRQHandler(void);
void scanAppFlashContent(bool print_content = true, u32 page_count = 0);
#ifdef __cplusplus
}
#endif