120 lines
2.9 KiB
C++
120 lines
2.9 KiB
C++
#include "OTA.h"
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#include "gd32c10x_fmc.h"
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#include <cstring>
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extern CAN_transmiter CAN0_transmiter; // CAN初始化
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extern "C" {
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void canfd_rx_irq_handler(void);
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}
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OTAHandler::OTAHandler() : ota_active(false), received_size(0) {}
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void OTAHandler::init() {
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// 初始化CANFD接收中断
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nvic_irq_enable(CAN0_RX0_IRQn, 1, 1);
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}
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void OTAHandler::process() {
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if (!ota_active)
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return;
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// 这里可以添加超时处理逻辑
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// 例如：10秒无数据则退出OTA模式
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}
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bool OTAHandler::validateApplication() {
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uint32_t *app_vector = (uint32_t *)APP_START_ADDR;
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uint32_t stack_ptr = app_vector[0];
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uint32_t reset_handler = app_vector[1];
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// 简单验证：检查栈指针是否在SRAM范围内
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return (stack_ptr >= 0x20000000 && stack_ptr < 0x20008000) &&
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(reset_handler >= APP_START_ADDR &&
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reset_handler < (APP_START_ADDR + APP_MAX_SIZE));
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}
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void OTAHandler::jumpToApplication() {
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if (!validateApplication()) {
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// 无效APP，停留在bootloader
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return;
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}
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// 关闭所有中断
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__disable_irq();
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// 设置主栈指针
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uint32_t msp_value = *(__IO uint32_t *)APP_START_ADDR;
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__set_MSP(msp_value);
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// 获取复位地址
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uint32_t reset_handler = *(__IO uint32_t *)(APP_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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// 跳转
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app_entry();
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}
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void OTAHandler::eraseApplicationArea() {
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// 擦除APP区域
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fmc_unlock();
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for (uint32_t addr = APP_START_ADDR; addr < (APP_START_ADDR + APP_MAX_SIZE);
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addr += FMC_PAGE_SIZE) {
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fmc_page_erase(addr);
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}
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fmc_lock();
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}
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void OTAHandler::writeApplicationData(uint32_t offset, uint8_t *data,
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uint32_t size) {
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fmc_unlock();
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uint32_t write_addr = APP_START_ADDR + offset;
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// 32位对齐写入
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for (uint32_t i = 0; i < size; i += 4) {
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uint32_t word = 0;
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memcpy(&word, &data[i], 4);
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fmc_word_program(write_addr + i, word);
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}
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fmc_lock();
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}
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void OTAHandler::handleOTAMessage(uint32_t id, uint8_t *data, uint8_t len) {
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if (id == CANFD_OTA_REQ_ID) {
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// OTA请求包
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uint32_t new_size = *(uint32_t *)data;
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if (new_size <= APP_MAX_SIZE) {
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expected_size = new_size;
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received_size = 0;
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eraseApplicationArea();
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ota_active = true;
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sendACK(0xFFFFFFFF); // 确认开始
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}
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} else if (id == CANFD_OTA_DATA_ID && ota_active) {
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// 数据包格式：[4字节包序号][实际数据]
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if (len >= 4) {
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uint32_t packet_num = *(uint32_t *)data;
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uint32_t offset = packet_num * (len - 4);
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if (offset < expected_size) {
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writeApplicationData(offset, &data[4], len - 4);
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received_size += (len - 4);
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sendACK(packet_num);
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// 检查是否完成
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if (received_size >= expected_size) {
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ota_active = false;
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// 跳转前延时让ACK发出
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for (volatile int i = 0; i < 100000; i++)
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;
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jumpToApplication();
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}
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}
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}
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}
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}
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void OTAHandler::sendACK(uint32_t packet_num) {
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CAN0_transmiter.sendACK(CANFD_OTA_ACK_ID, packet_num);
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} |