cbb
05069e3057
- 移除了CAN模块中的DMA相关代码，包括can_dma_init函数、 DMA中断处理函数以及相关的全局变量和头文件包含 - 更新了项目构建配置，将优化级别从balanced改为size以减小 固件体积 - 添加了-fno-exceptions和-fno-rtti编译选项以进一步优化代码 - 升级了GD32C10x_DFP包版本至1.5.0 - 调整了OTA跳转逻辑，增加了更安全的中断和外设关闭处理 - 修复了Flash写入时的重复包处理逻辑，增加错误标志清理机制 - 将AES加密算法中的gf_mul函数标记为noinline属性
823 lines
27 KiB
C++
823 lines
27 KiB
C++
#include "OTA.h"
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#include "Can.h"
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#include "aes128.h"
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#include "config.h"
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#include "core_cmFunc.h"
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#include "gd32c10x.h" // 主头文件，包含了gd32c10x_crc.h的内容
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#include "gd32c10x_fmc.h"
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#include "initial.h"
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#include "systick.h"
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#include <stdint.h>
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extern CAN_transmiter CAN0_transmiter; // CAN初始化
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OTAHandler ota;
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extern "C" {
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void canfd_rx_irq_handler(void);
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}
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inline fmc_state_enum write_ADDRESS(u32 address, u32 data) {
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fmc_unlock();
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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// 确保使用对齐地址
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fmc_state_enum fmc_status = fmc_word_program(address, data);
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fmc_lock();
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return fmc_status;
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}
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/**
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* @brief 设置OTA配置参数到Flash
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*
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* 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）。
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* 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。
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* 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。
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*
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* @param addr: 要设置的Flash地址
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* @param data: 要写入的数据 (通常为OTA_AVAL=0x00000000 或
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* OTA_NOT_AVAL=0xFFFFFFFF)
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* @retval FLASH_EEPROM_OK (0) 表示成功, 其他值表示失败
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*/
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u8 OTA_SET(u32 addr, u32 data) {
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fmc_state_enum fmc_status;
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u32 temp_val[OTA_CONFIG_NUM]; // 临时数组，用于存储当前所有配置参数的值
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volatile u32 *flash_ptr = (volatile u32 *)addr;
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// 1. 检查目标地址的值是否已与期望值相同，如果相同则无需操作
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temp_val[0] = *flash_ptr;
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if (temp_val[0] == data) {
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return FLASH_EEPROM_OK; // 值已正确，直接返回成功
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}
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// 2. 尝试直接写入数据。这适用于将1修改为0的情况（因为Flash允许1->0）
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if (data == OTA_AVAL) {
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fmc_status = write_ADDRESS(addr, data);
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// 如果写入成功，则返回成功
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if (fmc_status == FMC_READY) {
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return FLASH_EEPROM_OK;
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}
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// 如果写入失败（例如地址已被写为0），则继续执行后续的擦除-重写流程
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}
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// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
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flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
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temp_val[0] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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temp_val[1] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
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temp_val[2] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
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temp_val[3] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
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temp_val[4] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
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temp_val[5] = *flash_ptr;
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#if EEP_DEBUG
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printf("OTA_prepare write%08x at %08x\r\n", data, addr);
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// 修复：完整输出所有6个配置项的值，便于调试
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printf("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
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"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
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temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
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temp_val[5]);
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#endif
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// 4. 擦除包含所有配置参数的Flash页
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fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR);
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if (fmc_status != FMC_READY) {
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#if EEP_DEBUG
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printf("OTA_SET - Page erase failed! Status: %d\r\n", fmc_status);
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#endif
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return FLASH_EEPROM_ERROR;
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}
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// 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
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for (int i = 0; i < OTA_CONFIG_NUM; i++) {
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u32 current_addr = n_APP_LATEST_AVAL_ADDR + 4 * i;
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if (current_addr != addr and temp_val[i] != OTA_NOT_AVAL) {
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fmc_status = write_ADDRESS(current_addr, temp_val[i]);
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}
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}
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#if EEP_DEBUG
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// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
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flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
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temp_val[0] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
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temp_val[1] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
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temp_val[2] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
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temp_val[3] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
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temp_val[4] = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
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temp_val[5] = *flash_ptr;
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// 修复：完整输出所有6个配置项的值，便于调试
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printf("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
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"BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
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temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
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temp_val[5]);
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#endif
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return FLASH_EEPROM_OK;
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}
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/**
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* @brief 从4字节数组中提取一个32位无符号整数
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* @param array: 4字节数组
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* @retval 32位无符号整数
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*/
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static inline uint32_t extract_u32_from_4bytes(const uint8_t *array) {
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return ((uint32_t)array[3] << 24) | ((uint32_t)array[2] << 16) |
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((uint32_t)array[1] << 8) | (uint32_t)array[0];
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}
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void OTAHandler::init() {}
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/**
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* @brief OTA处理函数
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* @param 无
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* @retval 无
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*/
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void OTAHandler::process() {
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// 执行待处理的Flash擦除操作（在主循环中执行，避免中断中耗时操作）
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if (pending_flash_erase) {
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pending_flash_erase = false;
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#if DEBUG_OTA
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printf("Executing pending Flash erase...\r\n");
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#endif
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eraseApplicationArea();
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#if DEBUG_OTA
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printf("Flash erase completed.\r\n");
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#endif
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// Flash擦除完成后，更新状态为接收固件
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ota_state = OTA_STATE_RECEIVING_FIRMWARE;
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}
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if (ota_state == OTA_STATE_IDLE) {
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ota_time = 0; // 重置计时器
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static u8 zero[1] = {0};
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CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 0, zero);
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delay_1ms(10);
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return;
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} else {
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delay_1us(100);
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ota_time++;
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}
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// 检查是否超时（例如：10秒无数据则退出OTA模式）
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if (ota_time > OTA_TIMEOUT) { // 10秒超时（10000 x 1ms）
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ota_time = 0;
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ota_state = OTA_STATE_IDLE;
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ota_error = OTA_ERROR_TIMEOUT;
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volatile u32 *flash_ptr =
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(volatile u32 *)n_APP_LATEST_CHECK_ADDR; // 如果是实际可以运行
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u32 if_checked = *flash_ptr;
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flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR; // 如果是实际已刷入
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u32 if_aval = *flash_ptr;
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send_error_frame(OTA_ERROR_TIMEOUT); // OTA超时
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if (if_checked == OTA_AVAL and if_aval == OTA_AVAL) {
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fmc_unlock();
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OTA_SET(n_APP_LATEST_AVAL_ADDR,
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OTA_AVAL); // 实际可用，设置APP为启用
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fmc_lock();
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jumpToApplication();
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}
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}
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}
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bool validateApplication() {
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u32 *app_vector = (u32 *)APPLATEST_START_ADDR;
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u32 stack_ptr = app_vector[0];
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u32 reset_handler = app_vector[1];
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#if DEBUG_OTA
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printf("APPLATEST_START_ADDR: 0x%08X\r\n", APPLATEST_START_ADDR);
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printf("Stack Pointer: 0x%08X\r\n", stack_ptr);
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printf("Reset Handler: 0x%08X\r\n", reset_handler);
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printf("APP Range: 0x%08X - 0x%08X\r\n", APPLATEST_START_ADDR,
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APPLATEST_START_ADDR + APP_MAX_SIZE);
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#endif
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// 简单验证：检查栈指针是否在SRAM范围内
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bool stack_valid = (stack_ptr >= 0x20000000 && stack_ptr < 0x20008000);
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bool reset_valid = (reset_handler >= APPLATEST_START_ADDR &&
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reset_handler < (APPLATEST_START_ADDR + APP_MAX_SIZE));
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#if DEBUG_OTA
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if (!stack_valid) {
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printf("Stack pointer validation failed!\r\n");
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}
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if (!reset_valid) {
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printf("Reset handler validation failed!\r\n");
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}
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#endif
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return stack_valid && reset_valid;
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}
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/**
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* @brief 跳转应用处理模块
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* @param 无
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* @retval 无
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*/
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void OTAHandler::jumpToApplication() {
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#if DEBUG_OTA
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printf("try jump to app\r\n");
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#endif
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if (!validateApplication()) {
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return;
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}
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#if DEBUG_OTA
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printf("jumping1\r\n");
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#endif
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fmc_unlock();
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OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_AVAL); // 设置APP为可用
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OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL); // 设置APP为激活
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fmc_lock();
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/* 1. 关闭 SysTick：VTOR 重指到 APP 后若 SysTick 仍在跑，
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* 下一拍会打进 APP 尚未就绪的 SysTick_Handler → 硬错误。 */
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SysTick->CTRL = 0U;
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SysTick->VAL = 0U;
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/* 2. 关闭并清除所有 NVIC 中断：ICER 只禁能，ICPR 清挂起，
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* 否则 OTA 期间残留的 CAN RX 挂起会在 APP 使能中断瞬间误触发。 */
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for (int i = 0; i < 8; i++) {
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NVIC->ICER[i] = 0xFFFFFFFF;
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NVIC->ICPR[i] = 0xFFFFFFFF;
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}
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// 重置外设（特别是CAN，防止冲突）
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can_deinit(CAN0);
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// 3. 重置系统时钟到默认状态
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rcu_system_clock_source_config(RCU_CKSYSSRC_IRC8M);
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#if DEBUG_OTA
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printf("jumping2\r\n");
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#endif
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// 4. 关闭一些关键外设时钟
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rcu_periph_clock_disable(RCU_GPIOA);
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rcu_periph_clock_disable(RCU_GPIOB);
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rcu_periph_clock_disable(RCU_GPIOC);
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rcu_periph_clock_disable(RCU_USART0);
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rcu_periph_clock_disable(RCU_CAN0);
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rcu_periph_clock_disable(RCU_TIMER0);
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rcu_periph_clock_disable(RCU_DMA0);
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#if DEBUG_OTA
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printf("jumping3\r\n");
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#endif
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// 5. 设置中断向量表偏移到应用程序起始地址
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SCB->VTOR = APPLATEST_START_ADDR;
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__DSB();
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__ISB();
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// 6. 设置MSP并跳转
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uint32_t msp_value = *(__IO uint32_t *)APPLATEST_START_ADDR;
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uint32_t reset_handler = *(__IO uint32_t *)(APPLATEST_START_ADDR + 4);
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typedef void (*AppEntryFunc)(void);
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AppEntryFunc app_entry = (AppEntryFunc)reset_handler;
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#if DEBUG_OTA
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printf("jumping5, MSP:0x%08X, Reset Handler:0x%08X\r\n", msp_value,
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reset_handler);
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#endif
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__set_MSP(msp_value);
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__DSB();
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__ISB();
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// 在跳转前清除复位标志
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rcu_all_reset_flag_clear();
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/* 确保全局中断使能：APP 的 Reset_Handler 不会碰 PRIMASK，
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* 若 BOOT 侧遗留 PRIMASK=1，APP 将永远收不到中断。 */
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__enable_irq();
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// 7. 跳转
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app_entry();
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// 如果程序执行到这里，说明跳转失败
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#if DEBUG_OTA
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printf("Jump to application failed!\r\n");
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#endif
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}
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/**
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* @brief 擦除应用程序区域
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* @param 无
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* @retval 无
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*/
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void OTAHandler::eraseApplicationArea() {
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fmc_unlock();
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OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_NOT_AVAL); // 设置APP为未确认
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OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置APP为未激活
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OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_NOT_AVAL); // 设置APP为不可用
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// 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
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__disable_irq();
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fmc_unlock();
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fmc_state_enum fmc_status;
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for (u32 addr = APPLATEST_START_ADDR;
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addr < (APPLATEST_START_ADDR + APP_MAX_SIZE); addr += FMC_PAGE_SIZE) {
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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fmc_status = fmc_page_erase(addr);
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if (fmc_status != FMC_READY) {
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// 如果擦除失败，记录错误并退出
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#if DEBUG_OTA
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printf("Flash erase failed at address 0x%08X, status: %d\r\n", addr,
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fmc_status);
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delay_1ms(5000);
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#endif
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ota_error = OTA_ERROR_FLASH_ERROR;
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send_error_frame(OTA_ERROR_FLASH_ERROR);
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break;
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} else {
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#if DEBUG_OTA
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printf("Flash erase SUCCESS\r\n");
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#endif
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}
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}
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// 重新启用中断
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__enable_irq();
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fmc_lock();
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}
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/**
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* @brief 写入应用程序数据
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* @param offset: 写入偏移量
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* @param data: 数据指针
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* @param size: 数据大小
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* @retval 无
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*/
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void OTAHandler::writeApplicationData(u32 offset, u8 *data, u32 size) {
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fmc_unlock();
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u32 write_addr = APPLATEST_START_ADDR + offset;
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fmc_state_enum fmc_state;
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u32 i = 0;
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u8 *src = data;
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// 32位对齐写入 - 处理完整的32位字
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for (; i + 4 <= size; i += 4) {
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u32 word = *(u32 *)&src[i];
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volatile u32 *dst = (volatile u32 *)(write_addr + i);
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/* 重复包幂等：ACK 丢失导致 DCU 重发已写入的包时，目标已是目标值，
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* 直接跳过。否则对非擦除态 flash 编程会触发 PGERR。 */
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if (*dst == word) {
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continue;
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}
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/* 每字写前清 FMC 错误标志：一旦 PGERR/WPERR 残留，
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* fmc_ready_wait 会让后续所有 program 直接返回错误（雪崩）。 */
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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fmc_state = fmc_word_program(write_addr + i, word);
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if (fmc_state != FMC_READY) {
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printf("FMC_WRITE_ERROR\r\n");
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/* 清掉本次错误标志，避免毒化后续字的编程 */
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fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
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}
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}
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// 处理剩余字节（size 非4的倍数时），未用字节补 0xFF（擦除态）
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if (i < size) {
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u32 word = 0xFFFFFFFF;
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u8 *word_ptr = (u8 *)&word;
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u32 remaining_bytes = size - i;
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for (u32 j = 0; j < remaining_bytes; j++) {
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word_ptr[j] = src[i + j];
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}
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volatile u32 *dst = (volatile u32 *)(write_addr + i);
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if (*dst != word) {
|
||
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
|
||
fmc_state = fmc_word_program(write_addr + i, word);
|
||
if (fmc_state != FMC_READY) {
|
||
printf("FMC_WRITE_ERROR\r\n");
|
||
fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
|
||
}
|
||
}
|
||
}
|
||
fmc_lock();
|
||
}
|
||
|
||
/**
|
||
* @brief 处理OTA数据包
|
||
* @param id: CAN帧ID
|
||
* @param data: CAN帧数据
|
||
* @param len: CAN帧数据长度
|
||
* @retval 无
|
||
*/
|
||
void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) {
|
||
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
|
||
printf("stage8:OTA_RECEIVING_FIRMWARE\r\n");
|
||
#endif
|
||
// 使用安全的数据解包方式
|
||
u32 receive_session_num = extract_u32_from_4bytes(data);
|
||
u32 receive_packet_num = extract_u32_from_4bytes(data + 4);
|
||
u32 receive_IFEND = extract_u32_from_4bytes(data + 56);
|
||
|
||
// 直接使用数据指针，避免不必要的内存复制
|
||
const u8 *receive_encrypted_data =
|
||
data + 8; // 加密数据从偏移8字节开始
|
||
const u8 *receive_dataCRC32 = data + 60; // CRC数据从偏移60字节开始
|
||
|
||
// 解密 - 使用栈上数组存储解密结果
|
||
u8 decrypted_data[OTA_PACKET_SIZE];
|
||
u8 calculated_dataCRC32[4];
|
||
aes128_set_key(&aes_ctx, current_K_session);
|
||
aes128_ecb_decrypt_48bytes(&aes_ctx,
|
||
const_cast<u8 *>(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);
|
||
#if DEBUG_OTA
|
||
std::printf("CRC32 :%x,%x!\r\n", receive_dataCRC32[0],
|
||
calculated_dataCRC32[0]);
|
||
#endif
|
||
receive_packet_num -= 1;
|
||
} else {
|
||
// 写入Flash前验证数据
|
||
u32 offset = receive_packet_num * OTA_PACKET_SIZE;
|
||
if (offset + OTA_PACKET_SIZE <= APP_MAX_SIZE) {
|
||
writeApplicationData(offset, decrypted_data,
|
||
OTA_PACKET_SIZE);
|
||
} else {
|
||
ota_error = OTA_ERROR_INVALID_SIZE;
|
||
ota_state = OTA_STATE_IDLE;
|
||
send_error_frame(OTA_ERROR_INVALID_SIZE);
|
||
}
|
||
}
|
||
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;
|
||
jumpToApplication();
|
||
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;
|
||
ota_state = OTA_STATE_IDLE;
|
||
send_error_frame(OTA_ERROR_INVALID_SIZE);
|
||
return;
|
||
}
|
||
// 设置待执行的Flash擦除标志，在process()中执行（避免中断中耗时操作）
|
||
pending_flash_erase = true;
|
||
// 注意：不立即改变状态，等待Flash擦除完成后在process()中改变
|
||
// 发送确认信号，告诉上位机可以开始发送数据
|
||
u8 send_data[6] = {0xBA, 0xC0, 0x00,
|
||
0x00, 0x00, 0x00}; // 确认开始传输
|
||
CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 6, send_data);
|
||
} else if (len == 2 and ota_state == OTA_STATE_FINISHED) {
|
||
#if DEBUG_OTA
|
||
printf("stage--:OTA_STATE_FINISHED\r\n");
|
||
#endif
|
||
;
|
||
} else {
|
||
ota_error = OTA_ERROR_INVALID_PACKET;
|
||
ota_state = OTA_STATE_IDLE;
|
||
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;
|
||
ota_state = OTA_STATE_IDLE;
|
||
send_error_frame(OTA_ERROR_INVALID_KEY); // 验证失败
|
||
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;
|
||
ota_state = OTA_STATE_IDLE;
|
||
send_error_frame(OTA_ERROR_INVALID_HANDSHAKE);
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 发送错误帧
|
||
* @param error: 错误码
|
||
* @retval 无
|
||
*/
|
||
|
||
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
|
||
}
|
||
|
||
/**
|
||
* @brief 将0x08010500地址后0xC000大小区域内的数据搬运到0x08011000地址
|
||
* @param None
|
||
* @retval fmc_state_enum: 操作状态
|
||
*/
|
||
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();
|
||
|
||
// 首先擦除目标地址的Flash页面
|
||
uint32_t num_pages =
|
||
(APP_MAX_SIZE + FMC_PAGE_SIZE - 1) / FMC_PAGE_SIZE; // 向上取整
|
||
|
||
for (uint32_t i = 0; i < num_pages; i++) {
|
||
uint32_t page_addr = APPLATEST_START_ADDR + i * FMC_PAGE_SIZE;
|
||
|
||
// 擦除页面
|
||
fmc_status = fmc_page_erase(page_addr);
|
||
if (fmc_status != FMC_READY) {
|
||
fmc_lock();
|
||
#if OTA_DEBUG
|
||
printf("move_app_data erase error\r\n");
|
||
#endif
|
||
__enable_irq(); // 重新开启中断
|
||
return fmc_status;
|
||
}
|
||
}
|
||
|
||
// 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;
|
||
|
||
// 预计算源数据的CRC，避免重复访问内存
|
||
crc_deinit();
|
||
crc_data_register_reset();
|
||
uint32_t src_crc = crc_block_data_calculate((uint32_t *)APPBACK_START_ADDR,
|
||
APP_MAX_SIZE / 4);
|
||
|
||
while (offset < APP_MAX_SIZE) {
|
||
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) {
|
||
// 清除之前的标志位
|
||
fmc_flag_clear(FMC_FLAG_END | FMC_FLAG_WPERR | FMC_FLAG_PGAERR |
|
||
FMC_FLAG_PGERR);
|
||
|
||
fmc_status =
|
||
fmc_word_program(APPLATEST_START_ADDR + offset, src_data);
|
||
|
||
// 检查写入操作是否成功
|
||
if (fmc_status != FMC_READY) {
|
||
#if OTA_DEBUG
|
||
printf(
|
||
"Flash write failed at offset 0x%08X with status: %d\r\n",
|
||
offset, fmc_status);
|
||
#endif
|
||
fmc_lock();
|
||
__enable_irq(); // 重新开启中断
|
||
return fmc_status;
|
||
}
|
||
write_count++;
|
||
}
|
||
offset += 4;
|
||
}
|
||
|
||
fmc_lock();
|
||
|
||
// 重新开启全局中断
|
||
__enable_irq();
|
||
crc_data_register_reset(); // 确保CRC计算从初始状态开始
|
||
|
||
// 计算目标数据的CRC值
|
||
uint32_t dst_crc = crc_block_data_calculate(
|
||
(uint32_t *)APPLATEST_START_ADDR, APP_MAX_SIZE / 4);
|
||
|
||
// 比较CRC值，确保数据完整性
|
||
if (src_crc != dst_crc) {
|
||
#if OTA_DEBUG
|
||
printf("CRC mismatch: src_crc=0x%08X, dst_crc=0x%08X\r\n", src_crc,
|
||
dst_crc);
|
||
#endif
|
||
return (fmc_state_enum)0xFF; // CRC校验失败
|
||
}
|
||
return fmc_status;
|
||
}
|
||
|
||
/**
|
||
* 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);
|
||
}
|