From 9c7145ef99c770374134d7cdf2b1b0b412f55959 Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Thu, 1 Jan 2026 01:39:19 +0800 Subject: [PATCH] =?UTF-8?q?feat(ota):=20=E5=AE=9E=E7=8E=B0=E5=AE=89?= =?UTF-8?q?=E5=85=A8OTA=E6=9B=B4=E6=96=B0=E5=8D=8F=E8=AE=AE=E6=94=AF?= =?UTF-8?q?=E6=8C=81AES=E5=8A=A0=E5=AF=86=E5=92=8CCRC=E6=A0=A1=E9=AA=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 添加AES128加密解密功能支持安全固件传输 - 实现基于随机数握手的安全会话密钥协商机制 - 集成CRC32带密钥校验确保数据完整性 - 重构OTA状态机支持握手、数据传输和验证流程 - 添加CANFD数据长度规范处理和安全跳转逻辑 - 移除调试打印语句优化性能 refactor(can): 优化CANFD发送和OTA确认处理逻辑 - 重构CANFD_AsyncSend函数支持规范数据长度 - 重命名sendACK为sendDATA_ACK并添加重载函数 - 修复数据长度处理和缓冲区填充逻辑 - 优化CAN消息发送的数据复制和验证流程 - 移除未使用的联合体类型定义 chore(project): 添加AES加密模块和系统初始化配置 - 在项目配置中添加AES128加密解密文件 - 在main.cpp中初始化CRC外设模块 - 添加安全十六进制打印调试函数 - 集成AES加密库到OTA处理流程中 - 优化系统时钟初始化配置 --- .gitignore | 82 + Robot_V2/Robot_V2.cproject.yml | 2 + Robot_V2/device/Can.cpp | 74 +- Robot_V2/device/Can.h | 19 +- Robot_V2/main.cpp | 124 +- Robot_V2/sys/OTA.cpp | 419 +++- Robot_V2/sys/OTA.h | 41 +- Robot_V2/sys/aes128.cpp | 375 ++++ Robot_V2/sys/aes128.h | 39 + Robot_V2/sys/config.h | 29 +- Robot_V2/sys/flash.cpp | 3 - Robot_V2/sys/initial.h | 3 +- .../Robot_V2.Release+GD32C103CB.cbuild.yml | 4 + out/Robot_V2/GD32C103CB/Release/Robot_V2.axf | Bin 192220 -> 211752 bytes .../GD32C103CB/Release/Robot_V2.axf.map | 305 +-- out/Robot_V2/GD32C103CB/Release/Robot_V2.hex | 1764 ++++++++++------- .../GD32C103CB/Release/compile_commands.json | 6 + tmp/.ninja_log | 45 +- tmp/1/.ninja_deps | Bin 175184 -> 254060 bytes tmp/1/.ninja_log | 103 +- tmp/1/CMakeCache.txt | 2 - .../G_/Robot_v2/BOOT/Robot_V2/main.o | Bin 10728 -> 19912 bytes .../G_/Robot_v2/BOOT/Robot_V2/device/Can.o | Bin 37836 -> 38728 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o | Bin 23712 -> 35264 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/flash.o | Bin 31528 -> 31592 bytes tmp/1/build.ninja | 63 +- tmp/1/compile_commands.json | 6 + tmp/Robot_V2.Release+GD32C103CB/groups.cmake | 2 + 28 files changed, 2470 insertions(+), 1040 deletions(-) create mode 100644 .gitignore create mode 100644 Robot_V2/sys/aes128.cpp create mode 100644 Robot_V2/sys/aes128.h diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..f298f75 --- /dev/null +++ b/.gitignore @@ -0,0 +1,82 @@ +# Prerequisites +*.d + +# Object files +*.o +*.ko +*.obj +*.elf + +# Linker output +*.ilk +*.map +*.exp + +# Precompiled Headers +*.gch +*.pch + +# Libraries +*.lib +*.a +*.la +*.lo + +# Shared objects (inc. Windows DLLs) +*.dll +*.so +*.so.* +*.dylib + +# Executables +*.exe +*.out +*.app +*.i*86 +*.x86_64 +*.hex + +# Debug files +*.dSYM/ +*.su +*.idb +*.pdb + +# Kernel Module Compile Results +*.mod* +*.cmd +.tmp_versions/ +modules.order +Module.symvers +Mkfile.old +dkms.conf + +# Clangd +.clangd + +# uv2csolution generated log file +uv2csolution.log + +# CMSIS Solution files and folders not to be tracked +# default directory of build artifacts +**/out +# directory containing intermediate files to be regenerated +**/tmp + +# Update config files must be merged before commit +*.update@* + +# cbuild output files +*.cbuild.yml +*.cbuild-idx.yml +*.cbuild-run.yml +*.cbuild-set.yml + +# .vscode JSON and debug adapter files generated by CMSIS Solution +.vscode/launch.json +.vscode/tasks.json +.vscode/settings.json +.cmd.jlink + +# legacy intermediate project file +*.cprj diff --git a/Robot_V2/Robot_V2.cproject.yml b/Robot_V2/Robot_V2.cproject.yml index cf2488b..1d893f6 100644 --- a/Robot_V2/Robot_V2.cproject.yml +++ b/Robot_V2/Robot_V2.cproject.yml @@ -4,6 +4,8 @@ project: files: - file: main.h - file: main.cpp + - file: sys/aes128.h + - file: sys/aes128.cpp - group: sys files: - file: sys/systick.cpp diff --git a/Robot_V2/device/Can.cpp b/Robot_V2/device/Can.cpp index 1e29934..a34feb4 100644 --- a/Robot_V2/device/Can.cpp +++ b/Robot_V2/device/Can.cpp @@ -209,15 +209,14 @@ void CAN_transmiter::communication_check() { // CAN0 接收数据标志 if (SET == can0_receive_flag) { - printf("\r\n can0 %X receive data:", receive_message.rx_efid); - for (int i = 0; i < receive_message.rx_dlen; i++) { - printf(" %02x", receive_message.rx_data[i]); - } - if (receive_message.rx_efid == CANFD_OTA_DATA_ID) { - ota.handleOTAMessage(receive_message.rx_efid, - receive_message.rx_data, - receive_message.rx_dlen); - } else if (receive_message.rx_efid == CANFD_OTA_REQ_ID) { + // printf("can0 %X receive data,length%d:", receive_message.rx_efid, + // receive_message.rx_dlen); + // for (int i = 0; i < receive_message.rx_dlen; i++) { + // printf(" 0x%02x", receive_message.rx_data[i]); + // } + // printf("\n"); + 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); @@ -228,11 +227,25 @@ void CAN_transmiter::communication_check() { } } -u8 CAN_transmiter::sendACK(u32 CANFD_OTA_ACK_ID, u32 packet_num) { - u32_union_t pack_data; - pack_data.u = packet_num; +u8 CAN_transmiter::sendDATA_ACK(u32 packet_num, u8 *data) { // 握手的时候 + memset(transmit_data, 0, sizeof(transmit_data)); + transmit_data[0] = 0xBA; + transmit_data[1] = 0xC0; + // 修复原始代码中不完整的循环 + for (int i = 2; i < 6; i++) { + transmit_data[i] = data[i-2]; + } + + return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, 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); - pack_u32_to_bytes(transmit_data, 0, pack_data); + if (if_success) { + transmit_data[0] = 0x01; + transmit_data[1] = 0x00; + } return CANFD_AsyncSend(CANFD_OTA_ACK_ID, 4, transmit_data); } @@ -312,6 +325,7 @@ void DMA0_Channel5_IRQHandler(void) { * @param data CAN消息数据 */ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { + u8 valid_length = length; // 检查CANFD模式是否启用 if (!(CAN_CTL(CAN0) & CAN_CTL_DFZ)) { printf("CANFD mode not enabled\r\n"); @@ -321,30 +335,48 @@ u8 CAN_transmiter::CANFD_AsyncSend(u32 id, u8 length, u8 *data) { // 检查数据指针是否有效 if (data == nullptr) { printf("Invalid data pointer\r\n"); - return 0; } // 检查数据长度是否符合CANFD规范 - if (length > 64) { - printf("CANFD data length exceeds maximum of 64 bytes\r\n"); - return 0; + if (length > 8) { + if (length > 8 and length < 13) { + valid_length = 12; + } else if (length > 12 and length < 17) { + valid_length = 16; + } else if (length > 16 and length < 21) { + valid_length = 20; + } else if (length > 20 and length < 24) { + valid_length = 24; + } else if (length > 28 and length < 33) { + valid_length = 32; + } else if (length > 32 and length < 49) { + valid_length = 48; + } else if (length > 48 and length < 65) { + valid_length = 64; + } else { + printf("CANFD data length error\r\n"); + return 0; + } } /* 配置发送消息参数 */ transmit_message.tx_ft = CAN_FT_DATA; // 数据帧 transmit_message.tx_ff = CAN_FF_EXTENDED; // 扩展帧格式 transmit_message.tx_efid = id; // 扩展帧ID - transmit_message.tx_dlen = length; // 设置数据长度 + transmit_message.tx_dlen = valid_length; // 设置数据长度 // 设置CANFD特定参数 transmit_message.fd_flag = CAN_FDF_FDFRAME; // CANFD帧格式 transmit_message.fd_brs = ENABLE; // 使能比特率切换 transmit_message.fd_esi = DISABLE; // 错误状态指示 - // 复制数据到发送缓冲区 - for (int i = 0; i < length && i < 64; i++) { - transmit_message.tx_data[i] = *(data + i); + for (int i = 0; i < valid_length; i++) { + if (i < length) { + transmit_message.tx_data[i] = *(data + i); + } else { + transmit_message.tx_data[i] = 0; + } } // 自动选择空闲mailbox发送消息 diff --git a/Robot_V2/device/Can.h b/Robot_V2/device/Can.h index 9c20dd0..05d14f8 100644 --- a/Robot_V2/device/Can.h +++ b/Robot_V2/device/Can.h @@ -9,12 +9,9 @@ extern "C" { #include "gd32c10x_can.h" #include "stdint.h" #include +#include "sys/config.h" + -// 定义一个联合体类型用于float和byte数组之间的转换 -typedef union { - u32 u; - u8 b[4]; -} u32_union_t; // 添加辅助函数用于将u16类型数据打包到u8数组中 static inline void pack_u16_to_bytes(u8 *buffer, u16 offset, u16 value) { @@ -43,15 +40,6 @@ static inline u16 unpack_bytes_to_u16(u8 *buffer, u16 offset) { return value; } -// 添加辅助函数用于从u8数组中解包float类型数据 -static inline u32_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) { - u32_union_t u32_union; - u32_union.b[0] = buffer[offset]; - u32_union.b[1] = buffer[offset + 1]; - u32_union.b[2] = buffer[offset + 2]; - u32_union.b[3] = buffer[offset + 3]; - return u32_union; -} u8 can_gpio_init(void); // CAN引脚初始化 void canfd_config(void); // CANFD初始化 @@ -80,7 +68,8 @@ class CAN_transmiter { void communication_check(); // 通信检查 u8 CANFD_AsyncSend(u32 ID, u8 length, u8 *data); // CANFD异步发送(使用DMA) - u8 sendACK(u32 CANFD_OTA_ACK_ID, u32 packet_num); + u8 sendDATA_ACK(u32 packet_num, bool if_success); + u8 sendDATA_ACK(u32 packet_num, u8* data); // 恢复原函数签名 }; #ifdef __cplusplus diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index c69d89b..af6c605 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -1,16 +1,21 @@ #include "main.h" #include "Can.h" +#include "aes128.h" #include "initial.h" #include "sys/systick.h" #include + 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 - SystemCoreClockUpdate(); // 更新系统时钟变量 - USART0_init(); // 调试串口初始化 + systick_config(); // 系统时钟初始化 + USART0_init(); // 调试串口初始化 + + rcu_periph_clock_enable(RCU_CRC); // 使能CRC外设时钟 + crc_deinit(); // 初始化CRC模块 CAN0_transmiter.init(); } void BootloaderSystem::run() { @@ -26,8 +31,121 @@ void BootloaderSystem::run() { ota.jumpToApplication(); } } + +// 发送单个字节到串口 (用于调试) +void uart_send_byte(uint8_t data) { + // 实际的串口发送代码 + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, data); +} + +// 以十六进制格式打印数据 +// 安全的十六进制打印函数，不使用sprintf，不使用大缓冲区 +void safe_print_hex(const char *prefix, const uint8_t *data, size_t length) { + // 1. 先打印前缀 + const char *p = prefix; + while (*p) { + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, *p++); + } + + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, ':'); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, ' '); + + // 2. 逐字节打印数据，每16字节换行 + for (size_t i = 0; i < length; i++) { + uint8_t byte = data[i]; + + // 打印高4位 + uint8_t high = (byte >> 4) & 0x0F; + char high_char = (high < 10) ? ('0' + high) : ('A' + high - 10); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, high_char); + + // 打印低4位 + uint8_t low = byte & 0x0F; + char low_char = (low < 10) ? ('0' + low) : ('A' + low - 10); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, low_char); + + // 打印空格 + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, ' '); + + // 每16字节换行 + if ((i + 1) % 16 == 0 && i < length - 1) { + // 换行 + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, '\r'); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, '\n'); + + // 缩进（4个空格） + for (int j = 0; j < 4; j++) { + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, ' '); + } + } + } + + // 3. 打印换行 + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, '\r'); + while (RESET == usart_flag_get(USART0, USART_FLAG_TBE)) + ; + usart_data_transmit(USART0, '\n'); +} + +void test_decrypt() { + printf("AES Encryption Verification Starting...\r\n"); + + // 定义48字节测试数据 + uint8_t plaintext[48] = { + 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08, 0x09, 0x0A, 0x0B, + 0x0C, 0x0D, 0x0E, 0x0F, 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, + 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D, 0x1E, 0x1F, 0x20, 0x21, 0x22, 0x23, + 0x24, 0x25, 0x26, 0x27, 0x28, 0x29, 0x2A, 0x2B, 0x2C, 0x2D, 0x2E, 0x2F}; + + // 定义128位密钥 (16字节) + uint8_t key[16] = {0x2b, 0x7e, 0x15, 0x16, 0x28, 0xae, 0xd2, 0xa6, + 0xab, 0xf7, 0x15, 0x88, 0x09, 0xcf, 0x4f, 0x3c}; + + // 创建AES上下文 + aes128_context ctx; + + // 设置密钥 + aes128_set_key(&ctx, key); + + // 打印原始数据 + safe_print_hex("Original Data", plaintext, 48); + + uint8_t ciphertext[48]; + uint8_t decrypted[48]; + + // 加密 + aes128_ecb_encrypt_48bytes(&ctx, plaintext, ciphertext); + safe_print_hex("Encrypted Data", ciphertext, 48); + + // 解密 + aes128_ecb_decrypt_48bytes(&ctx, ciphertext, decrypted); + safe_print_hex("Decrypted Data", decrypted, 48); +} int main(void) { sys.initHardware(); + // test_decrypt(); sys.run(); while (1) diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp index f1989d5..8baa39b 100644 --- a/Robot_V2/sys/OTA.cpp +++ b/Robot_V2/sys/OTA.cpp @@ -1,4 +1,8 @@ #include "OTA.h" +#include "Can.h" +#include "aes128.h" +#include "config.h" +#include "gd32c10x.h" // 主头文件，包含了gd32c10x_crc.h的内容 #include "gd32c10x_fmc.h" #include "systick.h" #include @@ -12,17 +16,20 @@ OTAHandler ota; extern "C" { void canfd_rx_irq_handler(void); } -#define DEBUG_OTA 1 +static inline uint32_t extract_u32_from_4bytes(const uint8_t *array) { + return ((uint32_t)array[3] << 24) | ((uint32_t)array[2] << 16) | + ((uint32_t)array[1] << 8) | (uint32_t)array[0]; +} void OTAHandler::init() {} void OTAHandler::process() { - if (!ota_active) { + if (ota_state == OTA_STATE_IDLE) { ota_time = 0; // 重置计时器 - static u8 zero[1] = {ota_active}; + static u8 zero[1] = {0}; CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 0, zero); -#ifdef DEBUG_OTA - printf("wait OTA%d\r\n", ota_active); +#if DEBUG_OTA + printf("OTA status:%d\r\n", ota_state); #endif delay_1ms(10); return; @@ -32,9 +39,11 @@ void OTAHandler::process() { } // 检查是否超时（例如：10秒无数据则退出OTA模式） - if (ota_time > 10000) { // 10秒超时（10000 x 1ms） + if (ota_time > OTA_TIMEOUT) { // 10秒超时（10000 x 1ms） ota_time = 0; - ota_active = false; + ota_state = OTA_STATE_IDLE; + ota_error = OTA_ERROR_TIMEOUT; + send_error_frame(OTA_ERROR_TIMEOUT); // 验证失败 } } @@ -50,39 +59,40 @@ bool OTAHandler::validateApplication() { } void OTAHandler::jumpToApplication() { - if (!validateApplication()) return; - - // 1. 关闭所有中断 - __disable_irq(); - for (int i = 0; i < 8; i++) { - NVIC->ICER[i] = 0xFFFFFFFF; - } - - // 2. 重置外设（特别是CAN，防止冲突） - can_deinit(CAN0); - - // 3. 重置系统时钟到默认状态 - rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M); - - // 4. 关闭一些关键外设时钟 - rcu_periph_clock_disable(RCU_GPIOA); - rcu_periph_clock_disable(RCU_GPIOB); - rcu_periph_clock_disable(RCU_GPIOC); - rcu_periph_clock_disable(RCU_USART0); - rcu_periph_clock_disable(RCU_CAN0); - rcu_periph_clock_disable(RCU_TIMER0); - rcu_periph_clock_disable(RCU_DMA0); - - // 5. 设置MSP并跳转 - uint32_t msp_value = *(__IO uint32_t*)APP_START_ADDR; - __set_MSP(msp_value); - - uint32_t reset_handler = *(__IO uint32_t*)(APP_START_ADDR + 4); - typedef void (*AppEntryFunc)(void); - AppEntryFunc app_entry = (AppEntryFunc)reset_handler; - - // 6. 跳转 - app_entry(); + if (!validateApplication()) + return; + + // 1. 关闭所有中断 + __disable_irq(); + for (int i = 0; i < 8; i++) { + NVIC->ICER[i] = 0xFFFFFFFF; + } + + // 2. 重置外设（特别是CAN，防止冲突） + can_deinit(CAN0); + + // 3. 重置系统时钟到默认状态 + rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M); + + // 4. 关闭一些关键外设时钟 + rcu_periph_clock_disable(RCU_GPIOA); + rcu_periph_clock_disable(RCU_GPIOB); + rcu_periph_clock_disable(RCU_GPIOC); + rcu_periph_clock_disable(RCU_USART0); + rcu_periph_clock_disable(RCU_CAN0); + rcu_periph_clock_disable(RCU_TIMER0); + rcu_periph_clock_disable(RCU_DMA0); + + // 5. 设置MSP并跳转 + uint32_t msp_value = *(__IO uint32_t *)APP_START_ADDR; + __set_MSP(msp_value); + + uint32_t reset_handler = *(__IO uint32_t *)(APP_START_ADDR + 4); + typedef void (*AppEntryFunc)(void); + AppEntryFunc app_entry = (AppEntryFunc)reset_handler; + + // 6. 跳转 + app_entry(); } void OTAHandler::eraseApplicationArea() { @@ -105,52 +115,303 @@ void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) { memcpy(&word, &data[i], 4); fmc_word_program(write_addr + i, word); } - fmc_lock(); } void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { - if (id == CANFD_OTA_REQ_ID) { -#ifdef DEBUG_OTA - printf("req OTA\r\n"); + if (id == CANFD_OTA_DATA_ID) { + ota_time = 0; + if (len == 64 and ota_state == OTA_STATE_RECEIVING_FIRMWARE) { +#if DEBUG_OTA + printf("stage8:OTA_RECEIVING_FIRMWARE\r\n"); #endif - // OTA请求包 - u32 new_size = *(u32 *)data; - if (new_size <= APP_MAX_SIZE) { - expected_size = new_size; - received_size = 0; - // eraseApplicationArea(); - ota_active = true; - sendACK(new_size); // 确认开始 -#ifdef DEBUG_OTA - printf("start OTA%d\r\n", ota_active); -#endif - } - } else if (id == CANFD_OTA_DATA_ID && ota_active) { - // 数据包格式：[4字节包序号][实际数据] - if (len >= 4) { - u32 packet_num = *(u32 *)data; - u32 offset = packet_num * (len - 4); - - if (offset < expected_size) { - writeApplicationData(offset, &data[4], len - 4); // 写入数据 - received_size += (len - 4); - sendACK(packet_num); // 确认ACK - ota_time = 0; // 重置计时器 - - // 检查是否完成 - if (received_size >= expected_size) { - ota_active = false; - // 跳转前延时让ACK发出 - for (volatile int i = 0; i < 100000; i++) - ; - jumpToApplication(); - } + // 数据解包 + u32 receive_session_num; + u32 receive_packet_num; + u8 receive_encrypted_data[OTA_PACKET_SIZE]; + u32 receive_IFEND; + u8 receive_dataCRC32[4]; + receive_session_num = extract_u32_from_4bytes(data); + receive_packet_num = extract_u32_from_4bytes(data + 4); + for (int i = 0; i < 48; i++) { + receive_encrypted_data[i] = data[i + 8]; } + receive_IFEND = extract_u32_from_4bytes(data + 56); + for (int i = 0; i < 4; i++) { + receive_dataCRC32[i] = data[i + 60]; + } + + // 解密 + u8 decrypted_data[OTA_PACKET_SIZE]; + u8 calculated_dataCRC32[4]; + aes128_set_key(&aes_ctx, current_K_session); + aes128_ecb_decrypt_48bytes(&aes_ctx, receive_encrypted_data, + decrypted_data); + + // 计算解密后CRC数据 + calculate_crc32_with_key(current_K_session, decrypted_data, + calculated_dataCRC32); + // CRC数据匹配 + if (memcmp(receive_dataCRC32, calculated_dataCRC32, SIZE_U32) != + 0) { + ota_error = OTA_ERROR_INVALID_CRC; + send_error_frame(OTA_ERROR_INVALID_CRC); + return; + } + if (receive_IFEND == 0xFFFFFFFF) { // 接收到尾帧，发送结束信号 + u8 pack_number[4] = {0xFF, 0xFF, 0xFF, 0xFF}; + CAN0_transmiter.sendDATA_ACK(CANFD_OTA_ACK_ID, pack_number); + ota_state = OTA_STATE_FINISHED; + return; + } + // 下一个请求 + u32 request_packet = receive_packet_num + 1; + u8 pack_number[4]; + // 封包 + memcpy(&pack_number, &request_packet, 4); + CAN0_transmiter.sendDATA_ACK(CANFD_OTA_ACK_ID, pack_number); + } else if (len == 4 and ota_state == OTA_STATE_CHECKING_FIRMWARE) { +#if DEBUG_OTA + printf("stage7:OTA_STATE_CHECKING_FIRMWARE\r\n"); +#endif + // OTA请求包 + u32 new_size = *(u32 *)data; + if (new_size <= APP_MAX_SIZE) { + expected_size = new_size; + received_size = 0; + } else { + ota_error = OTA_ERROR_INVALID_SIZE; + send_error_frame(OTA_ERROR_INVALID_SIZE); + return; + } + // eraseApplicationArea(); + u8 send_data[6] = {0xBA, 0xC0, 0x00, + 0x00, 0x00, 0x00}; // 确认开始传输 + // 发送接收包0请求 + CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data); + ota_state = OTA_STATE_RECEIVING_FIRMWARE; + } else if (len == 2 and ota_state == OTA_STATE_FINISHED) { +#if DEBUG_OTA + printf("stage8: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; + send_error_frame(OTA_ERROR_INVALID_PACKET); + } + } else if (id == CANFD_OTA_REQ_ID) { + ota_time = 0; +#if DEBUG_OTA + printf("stage2:OTA_STATE_WAITING_RANDOM\r\n"); +#endif + if (data[0] == 0x00 and data[1] == 0xAC and len == 2 and + ota_state == OTA_STATE_IDLE) { // 收到发起信号 + u8 send_data[2] = {0x00, 0xac}; // 确认握手开始，请求随机数 + CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 2, + send_data); // 发送握手开始信号 + ota_state = OTA_STATE_WAITING_RANDOM; + } else if (len == 16 and ota_state == OTA_STATE_WAITING_RANDOM) { +#if DEBUG_OTA + printf("stage4:OTA_STATE_WAITING_CONFIRM\r\n"); +#endif + while (len-- > 0) { + nonce_server[len] = data[len]; + } + // 1. 获取设备唯一码 + getDeviceSerialNumber(device_uid); + // 2. 初始化AES上下文（设置主密钥） + aes128_set_key(&aes_ctx, K_master); + // 3. 生成会话密钥 K_session (16字节) + u8 K_session[16]; + aes128_encrypt_block(&aes_ctx, nonce_server, + K_session); // 用主密钥加密随机数 + // 4. 用主密钥加密明文 (AES-128-ECB) + u8 encrypted_Ksession[16]; + u8 temp_block[AES_BLOCK_SIZE]; + // 加密第一个16字节块 + aes128_encrypt_block(&aes_ctx, K_session, temp_block); + memcpy(encrypted_Ksession, temp_block, 16); + + // 5. 构造握手响应包 (36字节) + u8 handshake_response[36]; + // 5.1 前12字节：设备UID + memcpy(handshake_response, device_uid, 12); + + // 5.2 接下来8字节：nonce后半部分 + memcpy(handshake_response + 12, nonce_server + 8, 8); + + // 5.3 最后16字节：加密数据的K-session + memcpy(handshake_response + 20, encrypted_Ksession, 16); + + // 6. 通过CAN发送响应 + CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 36, + handshake_response); + + // 7. 保存会话密钥供后续使用 + memcpy(current_K_session, K_session, 16); + + // 8. 更新状态机 + ota_state = OTA_STATE_WAITING_CONFIRM; + } else if (len == 16 and ota_state == OTA_STATE_WAITING_CONFIRM) { +#if DEBUG_OTA + printf("stage6:OTA_STATE_CHECKING_SESSION\r\n"); +#endif + u8 plaintext[16]; + u8 expected[16]; + // 1. 用K_session解密 + u8 encrypted_confirm[16]; + memcpy(encrypted_confirm, data, 16); + aes128_set_key(&aes_ctx, current_K_session); + aes128_decrypt_block(&aes_ctx, encrypted_confirm, plaintext); + + // 2. 计算期望值 (nonce_server XOR 0x55) + // 注意：需要保存原始的nonce_server + for (int i = 0; i < 16; i++) { + expected[i] = nonce_server[i] ^ 0x55; + } + + // 3. 验证解密结果 + if (memcmp(plaintext, expected, 16) != 0) { + // 验证失败 - 可能密钥错误或攻击 + ota_error = OTA_ERROR_INVALID_KEY; + send_error_frame(OTA_ERROR_INVALID_KEY); // 验证失败 + // reset_ota_state(); + return; + } + + u8 send_data[2] = {0xBA, 0xC0}; // 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); + + // 5. 更新状态 - 进入固件接收阶段 + ota_state = OTA_STATE_CHECKING_FIRMWARE; + } else { + // 其他握手异常 + ota_error = OTA_ERROR_INVALID_HANDSHAKE; + send_error_frame(OTA_ERROR_INVALID_HANDSHAKE); + return; } } } -void OTAHandler::sendACK(u32 packet_num) { - CAN0_transmiter.sendACK(CANFD_OTA_ACK_ID, packet_num); -} \ No newline at end of file +void send_error_frame(u8 error) { + u8 error_frame[1] = {error}; + CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 1, error_frame); +} + +/** + * @brief 获取GD32设备唯一码 + * @param buffer 存储唯一码的缓冲区，至少需要12字节 + * @return void + */ +void getDeviceSerialNumber(u8 *buffer) { + uint32_t serial_msb = DEVICE_SERIAL_ADDR_MSB; + uint32_t serial_mid = DEVICE_SERIAL_ADDR_MID; + uint32_t serial_lsb = DEVICE_SERIAL_ADDR_LSB; + + // 将96位唯一ID复制到缓冲区 (以小端序存储) + for (int i = 0; i < 4; i++) { + buffer[i] = (u8)(serial_lsb >> (i * 8)); + buffer[i + 4] = (u8)(serial_mid >> (i * 8)); + buffer[i + 8] = (u8)(serial_msb >> (i * 8)); + } +} + +/** + * @brief 获取GD32设备唯一码为字符串格式 + * @param str 存储唯一码字符串的缓冲区，至少需要25字节（包含结束符） + * @return void + */ +void getDeviceSerialNumberString(char *str) { + u8 serial[12]; + getDeviceSerialNumber(serial); + + // 将字节序列转换为十六进制字符串表示 + for (int i = 0; i < 12; i++) { + sprintf(&str[i * 2], "%02X", serial[i]); + } + str[24] = '\0'; // 确保字符串结束 +} + +/** + * 带密钥的CRC32校验函数 + * + * @param key 16字节密钥 + * @param data 48字节待校验数据 + * @param output 4字节输出缓冲区，存储CRC32校验值 + * + * 特点： + * - 使用标准CRC32算法 + * - 16字节密钥用于初始化CRC32状态 + */ +void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data, + u8 *output) { + // CRC32查找表（标准多项式0xEDB88320） + static const uint32_t crc_table[256] = { + 0x00000000, 0x77073096, 0xEE0E612C, 0x990951BA, 0x076DC419, 0x706AF48F, + 0xE963A535, 0x9E6495A3, 0x0EDB8832, 0x79DCB8A4, 0xE0D5E91E, 0x97D2D988, + 0x09B64C2B, 0x7EB17CBD, 0xE7B82D07, 0x90BF1D91, 0x1DB71064, 0x6AB020F2, + 0xF3B97148, 0x84BE41DE, 0x1ADAD47D, 0x6DDDE4EB, 0xF4D4B551, 0x83D385C7, + 0x136C9856, 0x646BA8C0, 0xFD62F97A, 0x8A65C9EC, 0x14015C4F, 0x63066CD9, + 0xFA0F3D63, 0x8D080DF5, 0x3B6E20C8, 0x4C69105E, 0xD56041E4, 0xA2677172, + 0x3C03E4D1, 0x4B04D447, 0xD20D85FD, 0xA50AB56B, 0x35B5A8FA, 0x42B2986C, + 0xDBBBC9D6, 0xACBCF940, 0x32D86CE3, 0x45DF5C75, 0xDCD60DCF, 0xABD13D59, + 0x26D930AC, 0x51DE003A, 0xC8D75180, 0xBFD06116, 0x21B4F4B5, 0x56B3C423, + 0xCFBA9599, 0xB8BDA50F, 0x2802B89E, 0x5F058808, 0xC60CD9B2, 0xB10BE924, + 0x2F6F7C87, 0x58684C11, 0xC1611DAB, 0xB6662D3D, 0x76DC4190, 0x01DB7106, + 0x98D220BC, 0xEFD5102A, 0x71B18589, 0x06B6B51F, 0x9FBFE4A5, 0xE8B8D433, + 0x7807C9A2, 0x0F00F934, 0x9609A88E, 0xE10E9818, 0x7F6A0DBB, 0x086D3D2D, + 0x91646C97, 0xE6635C01, 0x6B6B51F4, 0x1C6C6162, 0x856530D8, 0xF262004E, + 0x6C0695ED, 0x1B01A57B, 0x8208F4C1, 0xF50FC457, 0x65B0D9C6, 0x12B7E950, + 0x8BBEB8EA, 0xFCB9887C, 0x62DD1DDF, 0x15DA2D49, 0x8CD37CF3, 0xFBD44C65, + 0x4DB26158, 0x3AB551CE, 0xA3BC0074, 0xD4BB30E2, 0x4ADFA541, 0x3DD895D7, + 0xA4D1C46D, 0xD3D6F4FB, 0x4369E96A, 0x346ED9FC, 0xAD678846, 0xDA60B8D0, + 0x44042D73, 0x33031DE5, 0xAA0A4C5F, 0xDD0D7CC9, 0x5005713C, 0x270241AA, + 0xBE0B1010, 0xC90C2086, 0x5768B525, 0x206F85B3, 0xB966D409, 0xCE61E49F, + 0x5EDEF90E, 0x29D9C998, 0xB0D09822, 0xC7D7A8B4, 0x59B33D17, 0x2EB40D81, + 0xB7BD5C3B, 0xC0BA6CAD, 0xEDB88320, 0x9ABFB3B6, 0x03B6E20C, 0x74B1D29A, + 0xEAD54739, 0x9DD277AF, 0x04DB2615, 0x73DC1683, 0xE3630B12, 0x94643B84, + 0x0D6D6A3E, 0x7A6A5AA8, 0xE40ECF0B, 0x9309FF9D, 0x0A00AE27, 0x7D079EB1, + 0xF00F9344, 0x8708A3D2, 0x1E01F268, 0x6906C2FE, 0xF762575D, 0x806567CB, + 0x196C3671, 0x6E6B06E7, 0xFED41B76, 0x89D32BE0, 0x10DA7A5A, 0x67DD4ACC, + 0xF9B9DF6F, 0x8EBEEFF9, 0x17B7BE43, 0x60B08ED5, 0xD6D6A3E8, 0xA1D1937E, + 0x38D8C2C4, 0x4FDFF252, 0xD1BB67F1, 0xA6BC5767, 0x3FB506DD, 0x48B2364B, + 0xD80D2BDA, 0xAF0A1B4C, 0x36034AF6, 0x41047A60, 0xDF60EFC3, 0xA867DF55, + 0x316E8EEF, 0x4669BE79, 0xCB61B38C, 0xBC66831A, 0x256FD2A0, 0x5268E236, + 0xCC0C7795, 0xBB0B4703, 0x220216B9, 0x5505262F, 0xC5BA3BBE, 0xB2BD0B28, + 0x2BB45A92, 0x5CB36A04, 0xC2D7FFA7, 0xB5D0CF31, 0x2CD99E8B, 0x5BDEAE1D, + 0x9B64C2B0, 0xEC63F226, 0x756AA39C, 0x026D930A, 0x9C0906A9, 0xEB0E363F, + 0x72076785, 0x05005713, 0x95BF4A82, 0xE2B87A14, 0x7BB12BAE, 0x0CB61B38, + 0x92D28E9B, 0xE5D5BE0D, 0x7CDCEFB7, 0x0BDBDF21, 0x86D3D2D4, 0xF1D4E242, + 0x68DDB3F8, 0x1FDA836E, 0x81BE16CD, 0xF6B9265B, 0x6FB077E1, 0x18B74777, + 0x88085AE6, 0xFF0F6A70, 0x66063BCA, 0x11010B5C, 0x8F659EFF, 0xF862AE69, + 0x616BFFD3, 0x166CCF45, 0xA00AE278, 0xD70DD2EE, 0x4E048354, 0x3903B3C2, + 0xA7672661, 0xD06016F7, 0x4969474D, 0x3E6E77DB, 0xAED16A4A, 0xD9D65ADC, + 0x40DF0B66, 0x37D83BF0, 0xA9BCAE53, 0xDEBB9EC5, 0x47B2CF7F, 0x30B5FFE9, + 0xBDBDF21C, 0xCABAC28A, 0x53B39330, 0x24B4A3A6, 0xBAD03605, 0xCDD70693, + 0x54DE5729, 0x23D967BF, 0xB3667A2E, 0xC4614AB8, 0x5D681B02, 0x2A6F2B94, + 0xB40BBE37, 0xC30C8EA1, 0x5A05DF1B, 0x2D02EF8D}; + + // 用16字节密钥初始化CRC32状态 + uint32_t crc = 0xFFFFFFFF; + for (int i = 0; i < 16; i++) { + crc = crc_table[(crc ^ key[i]) & 0xFF] ^ (crc >> 8); + } + + // 计算48字节数据的CRC32 + for (int i = 0; i < 48; i++) { + crc = crc_table[(crc ^ data[i]) & 0xFF] ^ (crc >> 8); + } + + // 取反得到最终结果 + crc = ~crc; + + // 将CRC32结果拆分为4字节（小端格式） + output[0] = (uint8_t)(crc >> 0); + output[1] = (uint8_t)(crc >> 8); + output[2] = (uint8_t)(crc >> 16); + output[3] = (uint8_t)(crc >> 24); +} diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h index fd405d7..a3e567e 100644 --- a/Robot_V2/sys/OTA.h +++ b/Robot_V2/sys/OTA.h @@ -2,27 +2,60 @@ #define __OTA_H #include "Can.h" +#include "aes128.h" #include "config.h" #include "gd32c10x.h" +#include class OTAHandler { public: - bool ota_active; - u32 ota_time; + u32 ota_stateota_time; uint32_t received_size; uint32_t expected_size; void init(); void process(); - bool isActive() const { return ota_active; } + bool isActive() const { return ota_state; } void handleOTAMessage(uint32_t id, uint8_t *data, uint8_t len); void jumpToApplication(); private: + u16 ota_time; bool validateApplication(); void eraseApplicationArea(); void writeApplicationData(uint32_t offset, uint8_t *data, uint32_t size); - void sendACK(uint32_t packet_num); + typedef enum { + OTA_STATE_IDLE = 0, + OTA_STATE_WAITING_RANDOM, // 第二阶段等待随机数 + OTA_STATE_WAITING_CONFIRM, // 等待上位机确认 + OTA_STATE_CHECKING_FIRMWARE, + OTA_STATE_RECEIVING_FIRMWARE, + OTA_STATE_FINISHED + } ota_state_t; + typedef enum { + OTA_ERROR_NONE = 0, + OTA_ERROR_TIMEOUT, + OTA_ERROR_INVALID_KEY, + OTA_ERROR_INVALID_PACKET, + OTA_ERROR_INVALID_HANDSHAKE, + OTA_ERROR_INVALID_CRC, + OTA_ERROR_INVALID_SIZE + } ota_error_t; + // 全局变量（需在安全区域存储） + 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 + uint8_t device_uid[12]; // 从GD32 UID寄存器读取 + uint8_t current_K_session[16]; + uint8_t nonce_server[16]; + + aes128_context aes_ctx; // AES上下文 + ota_state_t ota_state = OTA_STATE_IDLE; + ota_error_t ota_error = OTA_ERROR_NONE; }; +void getDeviceSerialNumber(uint8_t *buffer); +void calculate_crc32_with_key(const uint8_t *key, const uint8_t *data, + u8 *output); +void send_error_frame(uint8_t error); #endif \ No newline at end of file diff --git a/Robot_V2/sys/aes128.cpp b/Robot_V2/sys/aes128.cpp new file mode 100644 index 0000000..37734e2 --- /dev/null +++ b/Robot_V2/sys/aes128.cpp @@ -0,0 +1,375 @@ +#include "aes128.h" + +// S盒 (Substitution Box) +static const u8 sbox[256] = { + 0x63, 0x7c, 0x77, 0x7b, 0xf2, 0x6b, 0x6f, 0xc5, 0x30, 0x01, 0x67, 0x2b, + 0xfe, 0xd7, 0xab, 0x76, 0xca, 0x82, 0xc9, 0x7d, 0xfa, 0x59, 0x47, 0xf0, + 0xad, 0xd4, 0xa2, 0xaf, 0x9c, 0xa4, 0x72, 0xc0, 0xb7, 0xfd, 0x93, 0x26, + 0x36, 0x3f, 0xf7, 0xcc, 0x34, 0xa5, 0xe5, 0xf1, 0x71, 0xd8, 0x31, 0x15, + 0x04, 0xc7, 0x23, 0xc3, 0x18, 0x96, 0x05, 0x9a, 0x07, 0x12, 0x80, 0xe2, + 0xeb, 0x27, 0xb2, 0x75, 0x09, 0x83, 0x2c, 0x1a, 0x1b, 0x6e, 0x5a, 0xa0, + 0x52, 0x3b, 0xd6, 0xb3, 0x29, 0xe3, 0x2f, 0x84, 0x53, 0xd1, 0x00, 0xed, + 0x20, 0xfc, 0xb1, 0x5b, 0x6a, 0xcb, 0xbe, 0x39, 0x4a, 0x4c, 0x58, 0xcf, + 0xd0, 0xef, 0xaa, 0xfb, 0x43, 0x4d, 0x33, 0x85, 0x45, 0xf9, 0x02, 0x7f, + 0x50, 0x3c, 0x9f, 0xa8, 0x51, 0xa3, 0x40, 0x8f, 0x92, 0x9d, 0x38, 0xf5, + 0xbc, 0xb6, 0xda, 0x21, 0x10, 0xff, 0xf3, 0xd2, 0xcd, 0x0c, 0x13, 0xec, + 0x5f, 0x97, 0x44, 0x17, 0xc4, 0xa7, 0x7e, 0x3d, 0x64, 0x5d, 0x19, 0x73, + 0x60, 0x81, 0x4f, 0xdc, 0x22, 0x2a, 0x90, 0x88, 0x46, 0xee, 0xb8, 0x14, + 0xde, 0x5e, 0x0b, 0xdb, 0xe0, 0x32, 0x3a, 0x0a, 0x49, 0x06, 0x24, 0x5c, + 0xc2, 0xd3, 0xac, 0x62, 0x91, 0x95, 0xe4, 0x79, 0xe7, 0xc8, 0x37, 0x6d, + 0x8d, 0xd5, 0x4e, 0xa9, 0x6c, 0x56, 0xf4, 0xea, 0x65, 0x7a, 0xae, 0x08, + 0xba, 0x78, 0x25, 0x2e, 0x1c, 0xa6, 0xb4, 0xc6, 0xe8, 0xdd, 0x74, 0x1f, + 0x4b, 0xbd, 0x8b, 0x8a, 0x70, 0x3e, 0xb5, 0x66, 0x48, 0x03, 0xf6, 0x0e, + 0x61, 0x35, 0x57, 0xb9, 0x86, 0xc1, 0x1d, 0x9e, 0xe1, 0xf8, 0x98, 0x11, + 0x69, 0xd9, 0x8e, 0x94, 0x9b, 0x1e, 0x87, 0xe9, 0xce, 0x55, 0x28, 0xdf, + 0x8c, 0xa1, 0x89, 0x0d, 0xbf, 0xe6, 0x42, 0x68, 0x41, 0x99, 0x2d, 0x0f, + 0xb0, 0x54, 0xbb, 0x16}; + +// 逆S盒 (InvSBox) +const u8 inv_sbox[256] = { + 0x52, 0x09, 0x6a, 0xd5, 0x30, 0x36, 0xa5, 0x38, 0xbf, 0x40, 0xa3, 0x9e, + 0x81, 0xf3, 0xd7, 0xfb, 0x7c, 0xe3, 0x39, 0x82, 0x9b, 0x2f, 0xff, 0x87, + 0x34, 0x8e, 0x43, 0x44, 0xc4, 0xde, 0xe9, 0xcb, 0x54, 0x7b, 0x94, 0x32, + 0xa6, 0xc2, 0x23, 0x3d, 0xee, 0x4c, 0x95, 0x0b, 0x42, 0xfa, 0xc3, 0x4e, + 0x08, 0x2e, 0xa1, 0x66, 0x28, 0xd9, 0x24, 0xb2, 0x76, 0x5b, 0xa2, 0x49, + 0x6d, 0x8b, 0xd1, 0x25, 0x72, 0xf8, 0xf6, 0x64, 0x86, 0x68, 0x98, 0x16, + 0xd4, 0xa4, 0x5c, 0xcc, 0x5d, 0x65, 0xb6, 0x92, 0x6c, 0x70, 0x48, 0x50, + 0xfd, 0xed, 0xb9, 0xda, 0x5e, 0x15, 0x46, 0x57, 0xa7, 0x8d, 0x9d, 0x84, + 0x90, 0xd8, 0xab, 0x00, 0x8c, 0xbc, 0xd3, 0x0a, 0xf7, 0xe4, 0x58, 0x05, + 0xb8, 0xb3, 0x45, 0x06, 0xd0, 0x2c, 0x1e, 0x8f, 0xca, 0x3f, 0x0f, 0x02, + 0xc1, 0xaf, 0xbd, 0x03, 0x01, 0x13, 0x8a, 0x6b, 0x3a, 0x91, 0x11, 0x41, + 0x4f, 0x67, 0xdc, 0xea, 0x97, 0xf2, 0xcf, 0xce, 0xf0, 0xb4, 0xe6, 0x73, + 0x96, 0xac, 0x74, 0x22, 0xe7, 0xad, 0x35, 0x85, 0xe2, 0xf9, 0x37, 0xe8, + 0x1c, 0x75, 0xdf, 0x6e, 0x47, 0xf1, 0x1a, 0x71, 0x1d, 0x29, 0xc5, 0x89, + 0x6f, 0xb7, 0x62, 0x0e, 0xaa, 0x18, 0xbe, 0x1b, 0xfc, 0x56, 0x3e, 0x4b, + 0xc6, 0xd2, 0x79, 0x20, 0x9a, 0xdb, 0xc0, 0xfe, 0x78, 0xcd, 0x5a, 0xf4, + 0x1f, 0xdd, 0xa8, 0x33, 0x88, 0x07, 0xc7, 0x31, 0xb1, 0x12, 0x10, 0x59, + 0x27, 0x80, 0xec, 0x5f, 0x60, 0x51, 0x7f, 0xa9, 0x19, 0xb5, 0x4a, 0x0d, + 0x2d, 0xe5, 0x7a, 0x9f, 0x93, 0xc9, 0x9c, 0xef, 0xa0, 0xe0, 0x3b, 0x4d, + 0xae, 0x2a, 0xf5, 0xb0, 0xc8, 0xeb, 0xbb, 0x3c, 0x83, 0x53, 0x99, 0x61, + 0x17, 0x2b, 0x04, 0x7e, 0xba, 0x77, 0xd6, 0x26, 0xe1, 0x69, 0x14, 0x63, + 0x55, 0x21, 0x0c, 0x7d}; + +// 轮常量 +static const u8 rcon[10] = {0x01, 0x02, 0x04, 0x08, 0x10, + 0x20, 0x40, 0x80, 0x1b, 0x36}; + +// 伽罗瓦域乘法 (xtime) - 确保正确 +static u8 xtime(u8 x) { return (x << 1) ^ (((x >> 7) & 1) * 0x1b); } + +// 关键修复：AES状态矩阵是列优先排列！ +// 内存布局应该是：s00, s10, s20, s30, s01, s11, s21, s31, ... +// 而不是行优先 + +// 轮密钥加 - 无需修改 +void add_round_key(u8 *state, const u8 *round_key) { + for (u8 i = 0; i < 16; i++) { + state[i] ^= round_key[i]; + } +} + +// 字节替换 - 无需修改 +void sub_bytes(u8 *state) { + for (u8 i = 0; i < 16; i++) { + state[i] = sbox[state[i]]; + } +} + +// 行移位 - 修复为列优先排列 +void shift_rows(u8 *state) { + u8 temp; + + // AES状态矩阵（列优先）： + // 列0: state[0], state[1], state[2], state[3] -> 行0,1,2,3 + // 列1: state[4], state[5], state[6], state[7] -> 行0,1,2,3 + // 列2: state[8], state[9], state[10], state[11] -> 行0,1,2,3 + // 列3: state[12], state[13], state[14], state[15] -> 行0,1,2,3 + + // 第1行（索引0,4,8,12）不移位 + // 第2行（索引1,5,9,13）左移1位 + temp = state[1]; + state[1] = state[5]; + state[5] = state[9]; + state[9] = state[13]; + state[13] = temp; + + // 第3行（索引2,6,10,14）左移2位 + temp = state[2]; + state[2] = state[10]; + state[10] = temp; + temp = state[6]; + state[6] = state[14]; + state[14] = temp; + + // 第4行（索引3,7,11,15）左移3位 + temp = state[3]; + state[3] = state[15]; + state[15] = state[11]; + state[11] = state[7]; + state[7] = temp; +} + +// 列混合 - 修复为正确的实现 +void mix_columns(u8 *state) { + u8 a[4], b[4]; + + // 处理每一列 + for (u8 col = 0; col < 4; col++) { + // 获取当前列的4个字节 + a[0] = state[col * 4 + 0]; + a[1] = state[col * 4 + 1]; + a[2] = state[col * 4 + 2]; + a[3] = state[col * 4 + 3]; + + // 计算混合后的值 + b[0] = xtime(a[0]) ^ xtime(a[1]) ^ a[1] ^ a[2] ^ a[3]; + b[1] = a[0] ^ xtime(a[1]) ^ xtime(a[2]) ^ a[2] ^ a[3]; + b[2] = a[0] ^ a[1] ^ xtime(a[2]) ^ xtime(a[3]) ^ a[3]; + b[3] = xtime(a[0]) ^ a[0] ^ a[1] ^ a[2] ^ xtime(a[3]); + + // 存回结果 + state[col * 4 + 0] = b[0]; + state[col * 4 + 1] = b[1]; + state[col * 4 + 2] = b[2]; + state[col * 4 + 3] = b[3]; + } +} + +// 伽罗瓦域乘法 (用于逆列混合) +static u8 gf_mul(u8 a, u8 b) { + u8 p = 0; + u8 high_bit; + + while (b) { + if (b & 1) { + p ^= a; + } + high_bit = a & 0x80; + a <<= 1; + if (high_bit) { + a ^= 0x1b; // x^8 + x^4 + x^3 + x + 1 + } + b >>= 1; + } + return p; +} + +// 逆字节替换 +void inv_sub_bytes(u8 *state) { + for (u8 i = 0; i < 16; i++) { + state[i] = inv_sbox[state[i]]; + } +} + +// 逆行移位 - 与shift_rows对应 +void inv_shift_rows(u8 *state) { + u8 temp; + + // 第2行右移1位 + temp = state[13]; + state[13] = state[9]; + state[9] = state[5]; + state[5] = state[1]; + state[1] = temp; + + // 第3行右移2位 + temp = state[2]; + state[2] = state[10]; + state[10] = temp; + temp = state[6]; + state[6] = state[14]; + state[14] = temp; + + // 第4行右移3位 + temp = state[7]; + state[7] = state[11]; + state[11] = state[15]; + state[15] = state[3]; + state[3] = temp; +} + +// 逆列混合 - 正确实现 +void inv_mix_columns(u8 *state) { + u8 a[4], b[4]; + + // 处理每一列 + for (u8 col = 0; col < 4; col++) { + // 获取当前列的4个字节 + a[0] = state[col * 4 + 0]; + a[1] = state[col * 4 + 1]; + a[2] = state[col * 4 + 2]; + a[3] = state[col * 4 + 3]; + + // 计算逆混合后的值 + b[0] = gf_mul(0x0e, a[0]) ^ gf_mul(0x0b, a[1]) ^ gf_mul(0x0d, a[2]) ^ + gf_mul(0x09, a[3]); + b[1] = gf_mul(0x09, a[0]) ^ gf_mul(0x0e, a[1]) ^ gf_mul(0x0b, a[2]) ^ + gf_mul(0x0d, a[3]); + b[2] = gf_mul(0x0d, a[0]) ^ gf_mul(0x09, a[1]) ^ gf_mul(0x0e, a[2]) ^ + gf_mul(0x0b, a[3]); + b[3] = gf_mul(0x0b, a[0]) ^ gf_mul(0x0d, a[1]) ^ gf_mul(0x09, a[2]) ^ + gf_mul(0x0e, a[3]); + + // 存回结果 + state[col * 4 + 0] = b[0]; + state[col * 4 + 1] = b[1]; + state[col * 4 + 2] = b[2]; + state[col * 4 + 3] = b[3]; + } +} + +// 密钥扩展 - 修复为标准实现 +static void key_expansion(aes128_context *ctx) { + u8 temp[4]; + u8 i, rcon_iter = 0; + + // 复制原始密钥到第一轮密钥 + memcpy(ctx->round_keys[0], ctx->key, 16); + + // 生成10轮密钥 + for (i = 1; i <= 10; i++) { + // 复制前一轮最后一列 + temp[0] = ctx->round_keys[i - 1][12]; + temp[1] = ctx->round_keys[i - 1][13]; + temp[2] = ctx->round_keys[i - 1][14]; + temp[3] = ctx->round_keys[i - 1][15]; + + // 字循环 (RotWord) + u8 t = temp[0]; + temp[0] = temp[1]; + temp[1] = temp[2]; + temp[2] = temp[3]; + temp[3] = t; + + // 字节替换 (SubWord) + temp[0] = sbox[temp[0]]; + temp[1] = sbox[temp[1]]; + temp[2] = sbox[temp[2]]; + temp[3] = sbox[temp[3]]; + + // 轮常量异或 + temp[0] ^= rcon[i - 1]; + + // 生成新的第一列 + ctx->round_keys[i][0] = ctx->round_keys[i - 1][0] ^ temp[0]; + ctx->round_keys[i][1] = ctx->round_keys[i - 1][1] ^ temp[1]; + ctx->round_keys[i][2] = ctx->round_keys[i - 1][2] ^ temp[2]; + ctx->round_keys[i][3] = ctx->round_keys[i - 1][3] ^ temp[3]; + + // 生成其他列 + for (u8 j = 1; j < 4; j++) { + ctx->round_keys[i][j * 4 + 0] = + ctx->round_keys[i][(j - 1) * 4 + 0] ^ + ctx->round_keys[i - 1][j * 4 + 0]; + ctx->round_keys[i][j * 4 + 1] = + ctx->round_keys[i][(j - 1) * 4 + 1] ^ + ctx->round_keys[i - 1][j * 4 + 1]; + ctx->round_keys[i][j * 4 + 2] = + ctx->round_keys[i][(j - 1) * 4 + 2] ^ + ctx->round_keys[i - 1][j * 4 + 2]; + ctx->round_keys[i][j * 4 + 3] = + ctx->round_keys[i][(j - 1) * 4 + 3] ^ + ctx->round_keys[i - 1][j * 4 + 3]; + } + } +} + +// 设置密钥 +void aes128_set_key(aes128_context *ctx, const u8 *key) { + memcpy(ctx->key, key, AES128_KEY_LEN); + key_expansion(ctx); +} + +// 加密单个块 +void aes128_encrypt_block(aes128_context *ctx, const u8 *input, + u8 *output) { + // 复制输入到状态 + memcpy(ctx->state, input, AES_BLOCK_SIZE); + + // 初始轮密钥加 + add_round_key(ctx->state, ctx->round_keys[0]); + + // 9轮标准轮 + for (u8 round = 1; round <= 9; round++) { + sub_bytes(ctx->state); + shift_rows(ctx->state); + mix_columns(ctx->state); + add_round_key(ctx->state, ctx->round_keys[round]); + } + + // 最终轮 (没有mix_columns) + sub_bytes(ctx->state); + shift_rows(ctx->state); + add_round_key(ctx->state, ctx->round_keys[10]); + + // 复制结果到输出 + memcpy(output, ctx->state, AES_BLOCK_SIZE); +} + +// ECB模式加密48字节数据 +void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const u8 *input, + u8 *output) { + // 分3块加密 (48 = 16 * 3) + aes128_encrypt_block(ctx, input, output); + aes128_encrypt_block(ctx, input + 16, output + 16); + aes128_encrypt_block(ctx, input + 32, output + 32); +} + +// 解密单个块 +void aes128_decrypt_block(aes128_context *ctx, const u8 *input, + u8 *output) { + // 复制输入到状态 + memcpy(ctx->state, input, AES_BLOCK_SIZE); + + // 初始轮密钥加（使用最后一轮密钥） + add_round_key(ctx->state, ctx->round_keys[10]); + + // 9轮标准解密轮 + for (u8 round = 9; round >= 1; round--) { + inv_shift_rows(ctx->state); + inv_sub_bytes(ctx->state); + add_round_key(ctx->state, ctx->round_keys[round]); + inv_mix_columns(ctx->state); + } + + // 最终轮（没有inv_mix_columns） + inv_shift_rows(ctx->state); + inv_sub_bytes(ctx->state); + add_round_key(ctx->state, ctx->round_keys[0]); + + // 复制结果到输出 + memcpy(output, ctx->state, AES_BLOCK_SIZE); +} + +// ECB模式解密48字节数据 +void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const u8 *input, + u8 *output) { + // 分3块解密 (48 = 16 * 3) + aes128_decrypt_block(ctx, input, output); + aes128_decrypt_block(ctx, input + 16, output + 16); + aes128_decrypt_block(ctx, input + 32, output + 32); +} + +// 验证函数：加密后解密，对比原始数据 +u8 aes128_verify_encryption(aes128_context *ctx, + const u8 *original_data, size_t length) { + u8 temp_ciphertext[48]; + u8 temp_plaintext[48]; + u8 result = 1; // 1表示验证成功，0表示失败 + + // 1. 加密原始数据 + aes128_ecb_encrypt_48bytes(ctx, original_data, temp_ciphertext); + + // 2. 解密密文 + aes128_ecb_decrypt_48bytes(ctx, temp_ciphertext, temp_plaintext); + + // 3. 对比原始数据和解密后的数据 + for (size_t i = 0; i < length; i++) { + if (original_data[i] != temp_plaintext[i]) { + result = 0; // 验证失败 + break; + } + } + + return result; +} \ No newline at end of file diff --git a/Robot_V2/sys/aes128.h b/Robot_V2/sys/aes128.h new file mode 100644 index 0000000..7b558d2 --- /dev/null +++ b/Robot_V2/sys/aes128.h @@ -0,0 +1,39 @@ +#ifndef __AES_H +#define __AES_H + +#include +#include + +// AES-128 密钥长度 (16 bytes) +#define AES128_KEY_LEN 16 +// AES 块大小 (16 bytes) +#define AES_BLOCK_SIZE 16 + +// AES 状态结构 +typedef struct { + u8 key[AES128_KEY_LEN]; // 128位/16字节密钥 + u8 round_keys[11][16]; // 10轮 + 初始轮密钥 + u8 state[AES_BLOCK_SIZE]; // 状态矩阵 +} aes128_context; + +// 内部函数声明（需要在头文件中声明，因为解密函数会使用） +void add_round_key(u8 *state, const u8 *round_key); +void sub_bytes(u8 *state); +void shift_rows(u8 *state); +void mix_columns(u8 *state); +void inv_sub_bytes(u8 *state); +void inv_shift_rows(u8 *state); +void inv_mix_columns(u8 *state); + +// 公共函数声明 +void aes128_set_key(aes128_context *ctx, const u8 *key); +void aes128_encrypt_block(aes128_context *ctx, const u8 *input, u8 *output); +void aes128_ecb_encrypt_48bytes(aes128_context *ctx, const u8 *input, u8 *output); +void aes128_decrypt_block(aes128_context *ctx, const u8 *input, u8 *output); +void aes128_ecb_decrypt_48bytes(aes128_context *ctx, const u8 *input, u8 *output); +u8 aes128_verify_encryption(aes128_context *ctx, const u8 *original_data, size_t length); + +// 逆S盒 (用于解密) +extern const u8 inv_sbox[256]; + +#endif /* __AES_H */ \ No newline at end of file diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h index 5744b2f..25dc61e 100644 --- a/Robot_V2/sys/config.h +++ b/Robot_V2/sys/config.h @@ -2,9 +2,12 @@ #define __CONFIG_H__ #include "stdint.h" +#define EEPDEBUG 0 +#define DEBUG_OTA 0 + // Flash分区配置 constexpr u32 BOOTLOADER_SIZE = 0x4000; // 16KB -constexpr u32 APP_START_ADDR = 0x08004000; // APP起始地址 +constexpr u32 APP_START_ADDR = 0x08010000; // APP起始地址 0x08004000 constexpr u32 APP2_START_ADDR = 0x08010000; // APP2起始地址 constexpr u32 APP_MAX_SIZE = 0xC000; // 48KB constexpr u32 FMC_PAGE_SIZE = 0x400; // 1KB @@ -15,6 +18,11 @@ constexpr u32 CANFD_OTA_DATA_ID = 0x00000101; constexpr u32 CANFD_OTA_ACK_ID = 0x00000102; constexpr u32 CANFD_OTA_WAIT_ID = 0x00000103; +// 设备唯一ID寄存器地址 (GD32C10x系列) +constexpr u32 DEVICE_SERIAL_ADDR_MSB = 0x1FFFF7E8; // 最高32位 +constexpr u32 DEVICE_SERIAL_ADDR_MID = 0x1FFFF7EC; // 中间32位 +constexpr u32 DEVICE_SERIAL_ADDR_LSB = 0x1FFFF7F0; // 最低32位 + // CANFD数据段最大64字节，我们用1字节序号 + 48字节数据 + 1字节CRC校验 constexpr u32 OTA_PACKET_SIZE = 48; typedef struct { @@ -23,4 +31,23 @@ typedef struct { u32 crc32; // 简单校验 } canfd_ota_packet_t; +// 定义一个联合体类型用于float和byte数组之间的转换 +typedef union { + u32 u; + u8 b[4]; +} u32_union_t; + +// 添加辅助函数用于从u8数组中解包float类型数据 +static inline u32_union_t unpack_bytes_to_float(u8 *buffer, u16 offset) { + u32_union_t u32_union; + u32_union.b[0] = buffer[offset]; + u32_union.b[1] = buffer[offset + 1]; + u32_union.b[2] = buffer[offset + 2]; + u32_union.b[3] = buffer[offset + 3]; + return u32_union; +} +// 其他 +constexpr u32 OTA_TIMEOUT = 10000; +constexpr u8 SIZE_U32 = sizeof(uint32_t); +constexpr u8 SIZE_FLOAT = sizeof(float); #endif \ No newline at end of file diff --git a/Robot_V2/sys/flash.cpp b/Robot_V2/sys/flash.cpp index 0bee563..b4d3691 100644 --- a/Robot_V2/sys/flash.cpp +++ b/Robot_V2/sys/flash.cpp @@ -10,9 +10,6 @@ #include FlashEEPROM flashEEP = FlashEEPROM(); -constexpr u8 SIZE_U32 = sizeof(uint32_t); -constexpr u8 SIZE_FLOAT = sizeof(float); -#define EEPDEBUG 0 // FlashEEPROM类实现 FlashEEPROM::FlashEEPROM() { diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h index 5241423..2b46ba3 100644 --- a/Robot_V2/sys/initial.h +++ b/Robot_V2/sys/initial.h @@ -14,9 +14,10 @@ int fputc(int ch, FILE *f); // 声明fputc函数以重载标准库实现 u8 USART0_init(void); u16 get_reset_cause(void); void unused_pin_init(); +void print_system_clock_info(void); #ifdef __cplusplus } #endif -#endif +#endif \ No newline at end of file diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml b/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml index fa5fca6..76d6816 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.Release+GD32C103CB.cbuild.yml @@ -285,6 +285,10 @@ build: category: header - file: ../../../../Robot_V2/main.cpp category: sourceCpp + - file: ../../../../Robot_V2/sys/aes128.h + category: header + - file: ../../../../Robot_V2/sys/aes128.cpp + category: sourceCpp - group: sys files: - file: ../../../../Robot_V2/sys/systick.cpp diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf index 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a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map index b49d0aa..99a24fc 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map @@ -4,142 +4,149 @@ Component: Arm Compiler for Embedded 6.24 Tool: armlink [5f371500] Memory Map of the image - Image Entry point : 0x00000000 + Image Entry point : 0x08000165 - Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00002b20, Max: 0x00020000, ABSOLUTE) + Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004800, Max: 0x00020000, ABSOLUTE, COMPRESSED[0x00004610]) - Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00002a28, Max: 0x00020000, ABSOLUTE) + Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x000045ec, Max: 0x00020000, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x08000000 0x00000150 Data RO 844 RESET startup_gd32c10x.o - 0x08000150 0x00000000 Code RO 1017 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x08000150 0x00000004 Code RO 1440 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) - 0x08000154 0x00000004 Code RO 1443 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000158 0x00000000 Code RO 1445 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000158 0x00000000 Code RO 1447 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000158 0x00000008 Code RO 1448 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x08000160 0x00000000 Code RO 1450 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x08000160 0x00000000 Code RO 1452 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x08000160 0x00000004 Code RO 1441 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) - 0x08000164 0x0000002c Code RO 845 * .text startup_gd32c10x.o - 0x08000190 0x00000024 Code RO 1024 .text mc_w.l(memcpya.o) - 0x080001b4 0x00000024 Code RO 1026 .text mc_w.l(memseta.o) - 0x080001d8 0x00000062 Code RO 1466 .text mc_w.l(uldiv.o) - 0x0800023a 0x00000002 Code RO 1468 .text mc_w.l(abort.o) - 0x0800023c 0x00000030 Code RO 1795 .text mc_w.l(init.o) - 0x0800026c 0x0000001e Code RO 1797 .text mc_w.l(llshl.o) - 0x0800028a 0x00000020 Code RO 1799 .text mc_w.l(llushr.o) - 0x080002aa 0x00000002 PAD - 0x080002ac 0x000000cc Code RO 131 .text.CAN0_RX0_IRQHandler Can.o - 0x08000378 0x0000004a Code RO 133 .text.DMA0_Channel4_IRQHandler Can.o - 0x080003c2 0x00000002 PAD - 0x080003c4 0x00000026 Code RO 135 .text.DMA0_Channel5_IRQHandler Can.o - 0x080003ea 0x00000002 PAD - 0x080003ec 0x000000e0 Code RO 853 .text.SystemCoreClockUpdate system_gd32c10x.o - 0x080004cc 0x00000342 Code RO 851 .text.SystemInit system_gd32c10x.o - 0x0800080e 0x00000002 PAD - 0x08000810 0x00000012 Code RO 45 .text.USART0_init initial.o - 0x08000822 0x00000002 PAD - 0x08000824 0x00000130 Code RO 99 .text._ZN10OTAHandler16handleOTAMessageEjPhh OTA.o - 0x08000954 0x000000a8 Code RO 93 .text._ZN10OTAHandler17jumpToApplicationEv OTA.o - 0x080009fc 0x000000a0 Code RO 89 .text._ZN10OTAHandler7processEv OTA.o - 0x08000a9c 0x00000028 Code RO 874 .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block libcppabi_wx.l(cxa_exception.cpp.o) - 0x08000ac4 0x00000060 Code RO 902 .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv libcppabi_wx.l(cxa_exception.cpp.o) - 0x08000b24 0x00000118 Code RO 129 .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh Can.o - 0x08000c3c 0x000000d0 Code RO 125 .text._ZN14CAN_transmiter19communication_checkEv Can.o - 0x08000d0c 0x00000038 Code RO 123 .text._ZN14CAN_transmiter4initEv Can.o - 0x08000d44 0x00000070 Code RO 127 .text._ZN14CAN_transmiter7sendACKEjj Can.o - 0x08000db4 0x00000074 Code RO 954 .text._ZSt11__terminatePFvvE libcppabi_wx.l(cxa_handlers.cpp.o) - 0x08000e28 0x00000030 Code RO 945 .text._ZSt9terminatev libcppabi_wx.l(cxa_handlers.cpp.o) - 0x08000e58 0x0000000a Code RO 931 .text.__clang_call_terminate libcppabi_wx.l(cxa_exception.cpp.o) - 0x08000e62 0x00000002 PAD - 0x08000e64 0x0000006c Code RO 879 .text.__cxa_begin_catch libcppabi_wx.l(cxa_exception.cpp.o) - 0x08000ed0 0x0000000a Code RO 1307 .text.__cxa_get_globals libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x08000eda 0x0000000a Code RO 1309 .text.__cxa_get_globals_fast libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x08000ee4 0x00000026 Code RO 185 .text.can_deinit gd32c10x_can.o - 0x08000f0a 0x00000002 PAD - 0x08000f0c 0x00000114 Code RO 191 .text.can_fd_init gd32c10x_can.o - 0x08001020 0x000000b2 Code RO 193 .text.can_filter_init gd32c10x_can.o - 0x080010d2 0x00000002 PAD - 0x080010d4 0x00000176 Code RO 189 .text.can_init gd32c10x_can.o - 0x0800124a 0x00000002 PAD - 0x0800124c 0x00000008 Code RO 235 .text.can_interrupt_enable gd32c10x_can.o - 0x08001254 0x00000016 Code RO 245 .text.can_interrupt_flag_clear gd32c10x_can.o - 0x0800126a 0x00000002 PAD - 0x0800126c 0x00000066 Code RO 243 .text.can_interrupt_flag_get gd32c10x_can.o - 0x080012d2 0x00000002 PAD - 0x080012d4 0x000001f4 Code RO 219 .text.can_message_receive gd32c10x_can.o - 0x080014c8 0x000001f0 Code RO 213 .text.can_message_transmit gd32c10x_can.o - 0x080016b8 0x00000018 Code RO 223 .text.can_receive_message_length_get gd32c10x_can.o - 0x080016d0 0x00000072 Code RO 187 .text.can_struct_para_init gd32c10x_can.o - 0x08001742 0x00000002 PAD - 0x08001744 0x000001b0 Code RO 121 .text.canfd_config Can.o - 0x080018f4 0x00000022 Code RO 27 .text.delay_1ms systick.o - 0x08001916 0x00000002 PAD - 0x08001918 0x00000018 Code RO 29 .text.delay_decrement systick.o - 0x08001930 0x00000024 Code RO 325 .text.dma_channel_disable gd32c10x_dma.o - 0x08001954 0x00000024 Code RO 323 .text.dma_channel_enable gd32c10x_dma.o - 0x08001978 0x00000074 Code RO 313 .text.dma_init gd32c10x_dma.o - 0x080019ec 0x00000022 Code RO 359 .text.dma_interrupt_enable gd32c10x_dma.o - 0x08001a0e 0x00000002 PAD - 0x08001a10 0x0000000e Code RO 357 .text.dma_interrupt_flag_clear gd32c10x_dma.o - 0x08001a1e 0x00000002 PAD - 0x08001a20 0x0000003a Code RO 355 .text.dma_interrupt_flag_get gd32c10x_dma.o - 0x08001a5a 0x00000002 PAD - 0x08001a5c 0x0000001a Code RO 311 .text.dma_struct_para_init gd32c10x_dma.o - 0x08001a76 0x00000002 PAD - 0x08001a78 0x00000012 Code RO 429 .text.fmc_lock gd32c10x_fmc.o - 0x08001a8a 0x00000002 PAD - 0x08001a8c 0x00000026 Code RO 427 .text.fmc_unlock gd32c10x_fmc.o - 0x08001ab2 0x00000002 PAD - 0x08001ab4 0x000001aa Code RO 439 .text.fmc_word_program gd32c10x_fmc.o - 0x08001c5e 0x00000002 PAD - 0x08001c60 0x0000002c Code RO 47 .text.fputc initial.o - 0x08001c8c 0x00000010 Code RO 498 .text.fwdgt_counter_reload gd32c10x_fwdgt.o - 0x08001c9c 0x00000098 Code RO 168 .text.gd_eval_com_init gd32c10x_eval.o - 0x08001d34 0x00000004 Code RO 523 .text.gpio_bit_reset gd32c10x_gpio.o - 0x08001d38 0x000002c0 Code RO 519 .text.gpio_init gd32c10x_gpio.o - 0x08001ff8 0x00000080 Code RO 537 .text.gpio_pin_remap_config gd32c10x_gpio.o - 0x08002078 0x00000032 Code RO 8 .text.main main.o - 0x080020aa 0x00000002 PAD - 0x080020ac 0x00000060 Code RO 566 .text.nvic_irq_enable gd32c10x_misc.o - 0x0800210c 0x0000001c Code RO 570 .text.nvic_vector_table_set gd32c10x_misc.o - 0x08002128 0x0000010c Code RO 716 .text.rcu_clock_freq_get gd32c10x_rcu.o - 0x08002234 0x00000020 Code RO 636 .text.rcu_periph_clock_disable gd32c10x_rcu.o - 0x08002254 0x0000001e Code RO 634 .text.rcu_periph_clock_enable gd32c10x_rcu.o - 0x08002272 0x00000002 PAD - 0x08002274 0x00000020 Code RO 644 .text.rcu_periph_reset_disable gd32c10x_rcu.o - 0x08002294 0x0000001e Code RO 642 .text.rcu_periph_reset_enable gd32c10x_rcu.o - 0x080022b2 0x00000002 PAD - 0x080022b4 0x00000014 Code RO 650 .text.rcu_system_clock_source_config gd32c10x_rcu.o - 0x080022c8 0x00000048 Code RO 23 .text.systick_config systick.o - 0x08002310 0x0000002c Code RO 934 .text.unlikely.__cxa_guard_acquire libcppabi_wx.l(cxa_guard.cpp.o) - 0x0800233c 0x00000008 Code RO 936 .text.unlikely.__cxa_guard_release libcppabi_wx.l(cxa_guard.cpp.o) - 0x08002344 0x00000006 Code RO 1292 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o) - 0x0800234a 0x00000002 PAD - 0x0800234c 0x0000006a Code RO 732 .text.usart_baudrate_set gd32c10x_usart.o - 0x080023b6 0x00000002 PAD - 0x080023b8 0x00000008 Code RO 758 .text.usart_data_transmit gd32c10x_usart.o - 0x080023c0 0x0000007a Code RO 730 .text.usart_deinit gd32c10x_usart.o - 0x0800243a 0x00000002 PAD - 0x0800243c 0x0000000a Code RO 740 .text.usart_enable gd32c10x_usart.o - 0x08002446 0x00000002 PAD - 0x08002448 0x00000010 Code RO 820 .text.usart_flag_get gd32c10x_usart.o - 0x08002458 0x00000014 Code RO 746 .text.usart_receive_config gd32c10x_usart.o - 0x0800246c 0x00000014 Code RO 744 .text.usart_transmit_config gd32c10x_usart.o - 0x08002480 0x00000020 Code RO 1237 i.__0printf$8 mc_w.l(printf8.o) - 0x080024a0 0x00000410 Code RO 1244 i._printf_core mc_w.l(printf8.o) - 0x080028b0 0x00000024 Code RO 1245 i._printf_post_padding mc_w.l(printf8.o) - 0x080028d4 0x0000002e Code RO 1246 i._printf_pre_padding mc_w.l(printf8.o) - 0x08002902 0x00000002 PAD - 0x08002904 0x00000024 Code RO 1020 i.puts mc_w.l(puts.o) - 0x08002928 0x00000008 Data RO 718 .rodata.cst8 gd32c10x_rcu.o - 0x08002930 0x00000007 Data RO 247 .rodata.g_can_fdlength_table gd32c10x_can.o - 0x08002937 0x0000005c Data RO 144 .rodata.str1.1 Can.o - 0x08002993 0x00000093 Data RO 940 .rodata.str1.1 libcppabi_wx.l(cxa_guard.cpp.o) - 0x08002a26 0x00000002 PAD - 0x08002a28 0x00000000 Data RO 1883 Region$$Table anon$$obj.o + 0x08000000 0x00000150 Data RO 899 RESET startup_gd32c10x.o + 0x08000150 0x00000000 Code RO 1063 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) + 0x08000150 0x00000004 Code RO 1488 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) + 0x08000154 0x00000004 Code RO 1491 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) + 0x08000158 0x00000000 Code RO 1493 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) + 0x08000158 0x00000000 Code RO 1495 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) + 0x08000158 0x00000008 Code RO 1496 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) + 0x08000160 0x00000000 Code RO 1498 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) + 0x08000160 0x00000000 Code RO 1500 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) + 0x08000160 0x00000004 Code RO 1489 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) + 0x08000164 0x0000002c Code RO 900 * .text startup_gd32c10x.o + 0x08000190 0x00000024 Code RO 1070 .text mc_w.l(memcpya.o) + 0x080001b4 0x00000024 Code RO 1072 .text mc_w.l(memseta.o) + 0x080001d8 0x0000001a Code RO 1074 .text mc_w.l(memcmp.o) + 0x080001f2 0x00000062 Code RO 1514 .text mc_w.l(uldiv.o) + 0x08000254 0x00000002 Code RO 1516 .text mc_w.l(abort.o) + 0x08000256 0x00000002 PAD + 0x08000258 0x00000030 Code RO 1843 .text mc_w.l(init.o) + 0x08000288 0x0000001e Code RO 1845 .text mc_w.l(llshl.o) + 0x080002a6 0x00000020 Code RO 1847 .text mc_w.l(llushr.o) + 0x080002c6 0x0000003a Code RO 1938 .text mc_w.l(__dczerorl.o) + 0x08000300 0x000000cc Code RO 186 .text.CAN0_RX0_IRQHandler Can.o + 0x080003cc 0x0000004a Code RO 188 .text.DMA0_Channel4_IRQHandler Can.o + 0x08000416 0x00000002 PAD + 0x08000418 0x00000026 Code RO 190 .text.DMA0_Channel5_IRQHandler Can.o + 0x0800043e 0x00000002 PAD + 0x08000440 0x00000342 Code RO 906 .text.SystemInit system_gd32c10x.o + 0x08000782 0x00000002 PAD + 0x08000784 0x00000012 Code RO 91 .text.USART0_init initial.o + 0x08000796 0x00000002 PAD + 0x08000798 0x00000198 Code RO 36 .text._Z11mix_columnsPh aes128.o + 0x08000930 0x00000238 Code RO 44 .text._Z14aes128_set_keyP14aes128_contextPKh aes128.o + 0x08000b68 0x000008e2 Code RO 42 .text._Z15inv_mix_columnsPh aes128.o + 0x0800144a 0x00000002 PAD + 0x0800144c 0x000003c8 Code RO 50 .text._Z20aes128_decrypt_blockP14aes128_contextPKhPh aes128.o + 0x08001814 0x000003e6 Code RO 46 .text._Z20aes128_encrypt_blockP14aes128_contextPKhPh aes128.o + 0x08001bfa 0x00000002 PAD + 0x08001bfc 0x00000210 Code RO 149 .text._Z24calculate_crc32_with_keyPKhS0_Ph OTA.o + 0x08001e0c 0x0000002c Code RO 52 .text._Z26aes128_ecb_decrypt_48bytesP14aes128_contextPKhPh aes128.o + 0x08001e38 0x00000410 Code RO 147 .text._ZN10OTAHandler16handleOTAMessageEjPhh OTA.o + 0x08002248 0x00000078 Code RO 135 .text._ZN10OTAHandler7processEv OTA.o + 0x080022c0 0x00000028 Code RO 929 .text._ZN10__cxxabiv121__isOurExceptionClassEPK21_Unwind_Control_Block libcppabi_wx.l(cxa_exception.cpp.o) + 0x080022e8 0x00000060 Code RO 957 .text._ZN10__cxxabiv1L22__cxa_end_cleanup_implEv libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002348 0x0000009e Code RO 180 .text._ZN14CAN_transmiter12sendDATA_ACKEjPh Can.o + 0x080023e6 0x00000002 PAD + 0x080023e8 0x00000178 Code RO 182 .text._ZN14CAN_transmiter15CANFD_AsyncSendEjhPh Can.o + 0x08002560 0x00000064 Code RO 178 .text._ZN14CAN_transmiter19communication_checkEv Can.o + 0x080025c4 0x00000038 Code RO 176 .text._ZN14CAN_transmiter4initEv Can.o + 0x080025fc 0x00000074 Code RO 1000 .text._ZSt11__terminatePFvvE libcppabi_wx.l(cxa_handlers.cpp.o) + 0x08002670 0x00000030 Code RO 991 .text._ZSt9terminatev libcppabi_wx.l(cxa_handlers.cpp.o) + 0x080026a0 0x0000000a Code RO 986 .text.__clang_call_terminate libcppabi_wx.l(cxa_exception.cpp.o) + 0x080026aa 0x00000002 PAD + 0x080026ac 0x0000006c Code RO 934 .text.__cxa_begin_catch libcppabi_wx.l(cxa_exception.cpp.o) + 0x08002718 0x0000000a Code RO 1355 .text.__cxa_get_globals libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x08002722 0x0000000a Code RO 1357 .text.__cxa_get_globals_fast libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x0800272c 0x00000026 Code RO 240 .text.can_deinit gd32c10x_can.o + 0x08002752 0x00000002 PAD + 0x08002754 0x00000114 Code RO 246 .text.can_fd_init gd32c10x_can.o + 0x08002868 0x000000b2 Code RO 248 .text.can_filter_init gd32c10x_can.o + 0x0800291a 0x00000002 PAD + 0x0800291c 0x00000176 Code RO 244 .text.can_init gd32c10x_can.o + 0x08002a92 0x00000002 PAD + 0x08002a94 0x00000008 Code RO 290 .text.can_interrupt_enable gd32c10x_can.o + 0x08002a9c 0x00000016 Code RO 300 .text.can_interrupt_flag_clear gd32c10x_can.o + 0x08002ab2 0x00000002 PAD + 0x08002ab4 0x00000066 Code RO 298 .text.can_interrupt_flag_get gd32c10x_can.o + 0x08002b1a 0x00000002 PAD + 0x08002b1c 0x000001f4 Code RO 274 .text.can_message_receive gd32c10x_can.o + 0x08002d10 0x000001f0 Code RO 268 .text.can_message_transmit gd32c10x_can.o + 0x08002f00 0x00000018 Code RO 278 .text.can_receive_message_length_get gd32c10x_can.o + 0x08002f18 0x00000072 Code RO 242 .text.can_struct_para_init gd32c10x_can.o + 0x08002f8a 0x00000002 PAD + 0x08002f8c 0x000001b0 Code RO 174 .text.canfd_config Can.o + 0x0800313c 0x00000018 Code RO 314 .text.crc_deinit gd32c10x_crc.o + 0x08003154 0x00000022 Code RO 73 .text.delay_1ms systick.o + 0x08003176 0x00000002 PAD + 0x08003178 0x00000018 Code RO 75 .text.delay_decrement systick.o + 0x08003190 0x00000024 Code RO 380 .text.dma_channel_disable gd32c10x_dma.o + 0x080031b4 0x00000024 Code RO 378 .text.dma_channel_enable gd32c10x_dma.o + 0x080031d8 0x00000074 Code RO 368 .text.dma_init gd32c10x_dma.o + 0x0800324c 0x00000022 Code RO 414 .text.dma_interrupt_enable gd32c10x_dma.o + 0x0800326e 0x00000002 PAD + 0x08003270 0x0000000e Code RO 412 .text.dma_interrupt_flag_clear gd32c10x_dma.o + 0x0800327e 0x00000002 PAD + 0x08003280 0x0000003a Code RO 410 .text.dma_interrupt_flag_get gd32c10x_dma.o + 0x080032ba 0x00000002 PAD + 0x080032bc 0x0000001a Code RO 366 .text.dma_struct_para_init gd32c10x_dma.o + 0x080032d6 0x00000002 PAD + 0x080032d8 0x0000002c Code RO 93 .text.fputc initial.o + 0x08003304 0x00000010 Code RO 553 .text.fwdgt_counter_reload gd32c10x_fwdgt.o + 0x08003314 0x00000098 Code RO 223 .text.gd_eval_com_init gd32c10x_eval.o + 0x080033ac 0x00000004 Code RO 578 .text.gpio_bit_reset gd32c10x_gpio.o + 0x080033b0 0x000002c0 Code RO 574 .text.gpio_init gd32c10x_gpio.o + 0x08003670 0x00000080 Code RO 592 .text.gpio_pin_remap_config gd32c10x_gpio.o + 0x080036f0 0x0000003a Code RO 14 .text.main main.o + 0x0800372a 0x00000002 PAD + 0x0800372c 0x00000060 Code RO 621 .text.nvic_irq_enable gd32c10x_misc.o + 0x0800378c 0x0000001c Code RO 625 .text.nvic_vector_table_set gd32c10x_misc.o + 0x080037a8 0x0000010c Code RO 771 .text.rcu_clock_freq_get gd32c10x_rcu.o + 0x080038b4 0x0000001e Code RO 689 .text.rcu_periph_clock_enable gd32c10x_rcu.o + 0x080038d2 0x00000002 PAD + 0x080038d4 0x00000020 Code RO 699 .text.rcu_periph_reset_disable gd32c10x_rcu.o + 0x080038f4 0x0000001e Code RO 697 .text.rcu_periph_reset_enable gd32c10x_rcu.o + 0x08003912 0x00000002 PAD + 0x08003914 0x00000048 Code RO 69 .text.systick_config systick.o + 0x0800395c 0x00000006 Code RO 1340 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o) + 0x08003962 0x00000002 PAD + 0x08003964 0x0000006a Code RO 787 .text.usart_baudrate_set gd32c10x_usart.o + 0x080039ce 0x00000002 PAD + 0x080039d0 0x00000008 Code RO 813 .text.usart_data_transmit gd32c10x_usart.o + 0x080039d8 0x0000007a Code RO 785 .text.usart_deinit gd32c10x_usart.o + 0x08003a52 0x00000002 PAD + 0x08003a54 0x0000000a Code RO 795 .text.usart_enable gd32c10x_usart.o + 0x08003a5e 0x00000002 PAD + 0x08003a60 0x00000010 Code RO 875 .text.usart_flag_get gd32c10x_usart.o + 0x08003a70 0x00000014 Code RO 801 .text.usart_receive_config gd32c10x_usart.o + 0x08003a84 0x00000014 Code RO 799 .text.usart_transmit_config gd32c10x_usart.o + 0x08003a98 0x00000020 Code RO 1285 i.__0printf$8 mc_w.l(printf8.o) + 0x08003ab8 0x0000000e Code RO 1932 i.__scatterload_copy mc_w.l(handlers.o) + 0x08003ac6 0x00000002 Code RO 1933 i.__scatterload_null mc_w.l(handlers.o) + 0x08003ac8 0x0000000e Code RO 1934 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x08003ad6 0x00000002 PAD + 0x08003ad8 0x00000410 Code RO 1292 i._printf_core mc_w.l(printf8.o) + 0x08003ee8 0x00000024 Code RO 1293 i._printf_post_padding mc_w.l(printf8.o) + 0x08003f0c 0x0000002e Code RO 1294 i._printf_pre_padding mc_w.l(printf8.o) + 0x08003f3a 0x00000002 PAD + 0x08003f3c 0x00000024 Code RO 1066 i.puts mc_w.l(puts.o) + 0x08003f60 0x00000100 Data RO 57 .rodata._ZL4sbox aes128.o + 0x08004060 0x00000400 Data RO 158 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o + 0x08004460 0x00000008 Data RO 773 .rodata.cst8 gd32c10x_rcu.o + 0x08004468 0x00000007 Data RO 302 .rodata.g_can_fdlength_table gd32c10x_can.o + 0x0800446f 0x00000100 Data RO 56 .rodata.inv_sbox aes128.o + 0x0800456f 0x0000005c Data RO 199 .rodata.str1.1 Can.o + 0x080045cb 0x00000001 PAD + 0x080045cc 0x00000020 Data RO 1931 Region$$Table anon$$obj.o Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT) @@ -147,33 +154,31 @@ Memory Map of the image **** No section assigned to this execution region **** - Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000968, Max: 0x00007200, ABSOLUTE) + Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a70, Max: 0x00007200, ABSOLUTE, COMPRESSED[0x00000020]) Base Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x00000004 Data RW 1454 .data mc_w.l(stdout.o) - 0x20000004 0x000000e8 Data RW 139 .data.CAN0_transmiter Can.o - 0x200000ec 0x00000004 Data RW 857 .data.SystemCoreClock system_gd32c10x.o - 0x200000f0 0x00000004 Data RW 1302 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) - 0x200000f4 0x00000004 PAD - 0x200000f8 0x00000004 Zero RW 105 .bss._ZGVZN10OTAHandler7processEvE4zero OTA.o - 0x200000fc 0x00000004 Zero RW 33 .bss._ZL5delay systick.o - 0x20000100 0x0000000c Zero RW 1311 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x2000010c 0x00000001 Zero RW 104 .bss._ZZN10OTAHandler7processEvE4zero OTA.o - 0x2000010d 0x00000003 PAD - 0x20000110 0x00000008 Zero RW 142 .bss.can_rx_buffer Can.o - 0x20000118 0x00000008 Zero RW 143 .bss.can_tx_buffer Can.o - 0x20000120 0x0000001c Zero RW 140 .bss.dma_rx_parameter Can.o - 0x2000013c 0x0000001c Zero RW 141 .bss.dma_tx_parameter Can.o - 0x20000158 0x00000010 Zero RW 103 .bss.ota OTA.o - 0x20000168 0x00000800 Zero RW 842 STACK startup_gd32c10x.o + 0x20000000 0x00000004 Data RW 1502 .data mc_w.l(stdout.o) + 0x20000004 0x000000e8 Data RW 194 .data.CAN0_transmiter Can.o + 0x200000ec 0x00000004 Data RW 912 .data.SystemCoreClock system_gd32c10x.o + 0x200000f0 0x00000004 Data RW 1350 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) + 0x200000f4 0x0000011c Data RW 155 .data.ota OTA.o + 0x20000210 0x00000004 Zero RW 79 .bss._ZL5delay systick.o + 0x20000214 0x0000000c Zero RW 1359 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x20000220 0x00000001 Zero RW 156 .bss._ZZN10OTAHandler7processEvE4zero OTA.o + 0x20000221 0x00000007 PAD + 0x20000228 0x00000008 Zero RW 197 .bss.can_rx_buffer Can.o + 0x20000230 0x00000008 Zero RW 198 .bss.can_tx_buffer Can.o + 0x20000238 0x0000001c Zero RW 195 .bss.dma_rx_parameter Can.o + 0x20000254 0x0000001c Zero RW 196 .bss.dma_tx_parameter Can.o + 0x20000270 0x00000800 Zero RW 897 STACK startup_gd32c10x.o - Execution Region ARM_LIB_HEAP (Base: 0x20000968, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) + Execution Region ARM_LIB_HEAP (Base: 0x20000a70, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x20000968 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o + 0x20000a70 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o Execution Region ARM_LIB_STACK (Base: 0x20007e00, Size: 0x00000200, Max: 0x00000200, ABSOLUTE) diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex index e30d4e0..efe3c77 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex @@ -1,14 +1,14 @@ :020000040800F2 -:1000000070090020650100086D0100086F010008FB +:10000000700A0020650100086D0100086F010008FA :10001000710100087301000875010008000000006C :100020000000000000000000000000007701000850 :1000300079010008000000007B0100087D01000834 :100040008101000881010008810100088101000888 :100050008101000881010008810100088101000878 :100060008101000881010008810100088101000868 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"G:\\Robot_v2\\BOOT\\Robot_V2\\main.cpp", "output": "CMakeFiles\\Group_Source_Files.dir\\G_\\Robot_v2\\BOOT\\Robot_V2\\main.o" }, +{ + "directory": "G:/Robot_v2/BOOT/tmp/1", + "command": "c:\\Users\\cbb\\.vcpkg\\artifacts\\2139c4c6\\compilers.arm.armclang\\6.24.0\\bin\\armclang.exe --target=arm-arm-none-eabi -DGD32C10x -D_RTE_ -IG:/Robot_v2/BOOT/Robot_V2/RTE/_Release_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 -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Include -IC:/Users/cbb/AppData/Local/arm/packs/GigaDevice/GD32C10x_DFP/1.0.1/Device/Utilities -IG:/Robot_v2/BOOT/Robot_V2 -IG:/Robot_v2/BOOT/Robot_V2/sys -IG:/Robot_v2/BOOT/Robot_V2/device -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include/libcxx -isystem C:/Users/cbb/.vcpkg/artifacts/2139c4c6/compilers.arm.armclang/6.24.0/include 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