156 lines
3.9 KiB
C++
156 lines
3.9 KiB
C++
#include "OTA.h"
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#include "gd32c10x_fmc.h"
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#include "systick.h"
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#include <cstdio>
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#include <cstring>
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#include <flash.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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extern FlashEEPROM flashEEP;
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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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#define DEBUG_OTA 1
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void OTAHandler::init() {}
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void OTAHandler::process() {
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if (!ota_active) {
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ota_time = 0; // 重置计时器
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static u8 zero[1] = {ota_active};
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CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_WAIT_ID, 0, zero);
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#ifdef DEBUG_OTA
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printf("wait OTA%d\r\n", ota_active);
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#endif
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delay_1ms(10);
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return;
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} else {
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delay_1ms(1);
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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 > 10000) { // 10秒超时（10000 x 1ms）
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ota_time = 0;
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ota_active = false;
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}
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}
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bool OTAHandler::validateApplication() {
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u32 *app_vector = (u32 *)APP_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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// 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()) return;
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// 1. 关闭所有中断
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__disable_irq();
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for (int i = 0; i < 8; i++) {
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NVIC->ICER[i] = 0xFFFFFFFF;
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}
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// 2. 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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// 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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// 5. 设置MSP并跳转
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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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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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// 6. 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 (u32 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(u32 offset, u8 *data, u32 size) {
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fmc_unlock();
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u32 write_addr = APP_START_ADDR + offset;
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// 32位对齐写入
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for (u32 i = 0; i < size; i += 4) {
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u32 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(u32 id, u8 *data, u8 len) {
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if (id == CANFD_OTA_REQ_ID) {
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#ifdef DEBUG_OTA
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printf("req OTA\r\n");
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#endif
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// OTA请求包
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u32 new_size = *(u32 *)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(new_size); // 确认开始
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#ifdef DEBUG_OTA
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printf("start OTA%d\r\n", ota_active);
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#endif
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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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u32 packet_num = *(u32 *)data;
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u32 offset = packet_num * (len - 4);
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if (offset < expected_size) {
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writeApplicationData(offset, &data[4], len - 4); // 写入数据
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received_size += (len - 4);
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sendACK(packet_num); // 确认ACK
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ota_time = 0; // 重置计时器
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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(u32 packet_num) {
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CAN0_transmiter.sendACK(CANFD_OTA_ACK_ID, packet_num);
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} |