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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/sys/config.h
+13 -13
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@@ -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