init

Robot_V2/sys/config.h

@@ -0,0 +1,21 @@
+#pragma once
+#include "stdint.h"
+
+// Flash分区配置
+constexpr uint32_t BOOTLOADER_SIZE = 0x4000;          // 16KB
+constexpr uint32_t APP_START_ADDR = 0x08004000;      // APP起始地址
+constexpr uint32_t APP_MAX_SIZE = 0x0001C000;        // 112KB
+constexpr uint32_t FMC_PAGE_SIZE = 0x400;
+
+// CANFD配置
+constexpr uint32_t CANFD_OTA_REQ_ID = 0x00000100;
+constexpr uint32_t CANFD_OTA_DATA_ID = 0x00000101;
+constexpr uint32_t CANFD_OTA_ACK_ID = 0x00000102;
+
+// CANFD数据段最大64字节，我们用32字节数据 + 4字节头部
+constexpr uint32_t OTA_PACKET_SIZE = 32;
+typedef struct {
+    uint32_t packet_num;    // 包序号
+    uint8_t data[OTA_PACKET_SIZE]; // 32字节有效数据
+    uint32_t crc32;         // 简单校验
+} canfd_ota_packet_t;