Motor_v2/Robot_V2/sys/initial.cpp

#include "initial.h"
#include "Can.h"
#include "config.h"
#include "flash.h"
#include "gd32c10x.h"
#include "gd32c10x_fmc.h"
#include "gd32c10x_gpio.h"
#include "gd32c10x_rcu.h"
#include "initial.h"
#include <cstdint>
#include <cstdio>
#include <cstring>

extern CAN_transmiter CAN0_transmiter; // CAN初始化
VersionManager Version;

VersionManager::VersionManager() {
	// 初始化版本号
	setSoftwareVersion(SOFTWARE_VERSION_MAJOR, SOFTWARE_VERSION_MINOR,
					   SOFTWARE_VERSION_PATCH, SOFTWARE_VERSION_BUILD);
	setHardwareVersion(HARDWARE_VERSION_MAJOR, HARDWARE_VERSION_MINOR,
					   HARDWARE_VERSION_PATCH, HARDWARE_VERSION_BUILD);
	setBootVersion(BOOT_VERSION_MAJOR, BOOT_VERSION_MINOR, BOOT_VERSION_PATCH,
				   BOOT_VERSION_BUILD);
}

VersionManager::VersionInfo VersionManager::getSoftwareVersion() const {
	return softwareVersion;
}

VersionManager::VersionInfo VersionManager::getHardwareVersion() const {
	return hardwareVersion;
}

VersionManager::VersionInfo VersionManager::getBootVersion() const {
	return bootVersion;
}

void VersionManager::setSoftwareVersion(u16 major, u16 minor, u16 patch,
										u16 build) {
	softwareVersion.major = major;
	softwareVersion.minor = minor;
	softwareVersion.patch = patch;
	softwareVersion.build = build;
}

void VersionManager::setHardwareVersion(u16 major, u16 minor, u16 patch,
										u16 build) {
	hardwareVersion.major = major;
	hardwareVersion.minor = minor;
	hardwareVersion.patch = patch;
	hardwareVersion.build = build;
}

void VersionManager::setBootVersion(u16 major, u16 minor, u16 patch,
									u16 build) {
	bootVersion.major = major;
	bootVersion.minor = minor;
	bootVersion.patch = patch;
	bootVersion.build = build;
}

char *VersionManager::versionToString(const VersionInfo &version, char *buffer,
									  size_t bufSize) const {
	if (buffer == nullptr) {
		return nullptr;
	}

	snprintf(buffer, bufSize, "%d.%d.%d.%d", version.major, version.minor,
			 version.patch, version.build);

	return buffer;
}

void VersionManager::sendVersionInfoViaCan() const {
	// 准备发送版本信息 (ID: CANFD_VERSION_ID)
	// 只使用必要的字节数（24字节）来传输三个版本的信息（每个版本6字节）
	u8 versionData[24] = {0};

	// 将版本信息打包到24字节数组中
	// 前8字节：软件版本信息 (4个uint16_t，每个占2字节)
	versionData[0] = softwareVersion.major & 0xFF;		  // 低字节
	versionData[1] = (softwareVersion.major >> 8) & 0xFF; // 高字节
	versionData[2] = softwareVersion.minor & 0xFF;		  // 低字节
	versionData[3] = (softwareVersion.minor >> 8) & 0xFF; // 高字节
	versionData[4] = softwareVersion.patch & 0xFF;		  // 低字节
	versionData[5] = (softwareVersion.patch >> 8) & 0xFF; // 高字节
	versionData[6] = softwareVersion.build & 0xFF;		  // 低字节
	versionData[7] = (softwareVersion.build >> 8) & 0xFF; // 高字节

	// 8-15字节：硬件版本信息 (4个uint16_t，每个占2字节)
	versionData[8] = hardwareVersion.major & 0xFF;		   // 低字节
	versionData[9] = (hardwareVersion.major >> 8) & 0xFF;  // 高字节
	versionData[10] = hardwareVersion.minor & 0xFF;		   // 低字节
	versionData[11] = (hardwareVersion.minor >> 8) & 0xFF; // 高字节
	versionData[12] = hardwareVersion.patch & 0xFF;		   // 低字节
	versionData[13] = (hardwareVersion.patch >> 8) & 0xFF; // 高字节
	versionData[14] = hardwareVersion.build & 0xFF;		   // 低字节
	versionData[15] = (hardwareVersion.build >> 8) & 0xFF; // 高字节

	// 16-23字节：BOOT版本信息 (4个uint16_t，每个占2字节)
	versionData[16] = bootVersion.major & 0xFF;		   // 低字节
	versionData[17] = (bootVersion.major >> 8) & 0xFF; // 高字节
	versionData[18] = bootVersion.minor & 0xFF;		   // 低字节
	versionData[19] = (bootVersion.minor >> 8) & 0xFF; // 高字节
	versionData[20] = bootVersion.patch & 0xFF;		   // 低字节
	versionData[21] = (bootVersion.patch >> 8) & 0xFF; // 高字节
	versionData[22] = bootVersion.build & 0xFF;		   // 低字节
	versionData[23] = (bootVersion.build >> 8) & 0xFF; // 高字节

	// 使用CANFD发送函数发送版本信息
	CAN0_transmiter.CANFD_AsyncSend(CANFD_VERSION_ID, 24, versionData);
}

void VersionManager::printVersions() const {
	char versionStr[32];

	printf(
		"Software Version: %s\r\n",
		versionToString(getSoftwareVersion(), versionStr, sizeof(versionStr)));
	printf(
		"Hardware Version: %s\r\n",
		versionToString(getHardwareVersion(), versionStr, sizeof(versionStr)));
	printf("BOOT Version: %s\r\n",
		   versionToString(getBootVersion(), versionStr, sizeof(versionStr)));
}

/* retarget the C library printf function to the USART */
u8 USART0_init() {
	gd_eval_com_init(EVAL_COM0);
	return 1;
}

/*!
	\brief      configure the watchdog peripheral
	\param[in]  none
	\param[out] none
	\retval     none
*/
u8 watchdog_init(u32 time) {
	u8 status = 0;
	/* configure FWDGT counter clock: 40KHz(IRC40K) / 64 = 0.625 KHz */
	/* time = reload_value / clock_frequency */
	status = fwdgt_config(time * 0.625, FWDGT_PSC_DIV64);
	fwdgt_enable();
	return status;
}

int fputc(int ch, FILE *f) throw() {
	usart_data_transmit(EVAL_COM0, (u8)ch);
	while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
		;
	return ch;
}

void unused_pin_init() {
	rcu_periph_clock_enable(RCU_GPIOA); // 使能GPIOA时钟
	rcu_periph_clock_enable(RCU_GPIOB); // 使能GPIOB时钟
	rcu_periph_clock_enable(RCU_GPIOC); // 使能GPIOC时钟
	gpio_init(GPIOA, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
	gpio_init(GPIOB, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
	gpio_init(GPIOC, GPIO_MODE_IPU, GPIO_OSPEED_2MHZ,
			  GPIO_PIN_14 | GPIO_PIN_15);
	gpio_bit_reset(GPIOA, GPIO_PIN_8 | GPIO_PIN_11 | GPIO_PIN_12);
	gpio_bit_reset(GPIOB, GPIO_PIN_6 | GPIO_PIN_7 | GPIO_PIN_15);
	gpio_bit_reset(GPIOC, GPIO_PIN_14 | GPIO_PIN_15);
}

/*!
	\brief      检测并打印复位源信息
	\param[in]  none
	\param[out] none
	\retval     none
*/
u16 get_reset_cause(void) {
	u16 cause = 0;
	if (RESET != rcu_flag_get(RCU_FLAG_FWDGTRST)) {
		// printf("Free Watchdog Timer Reset\r\n");
		cause = RCU_FLAG_FWDGTRST;
	}
	if (RESET != rcu_flag_get(RCU_FLAG_EPRST)) {
		// printf("External Pin Reset\r\n");
		cause = RCU_FLAG_EPRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_PORRST)) {
		// printf("Power Reset\r\n");
		cause = RCU_FLAG_PORRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_WWDGTRST)) {
		// printf("Window Watchdog Timer Reset\r\n");
		cause = RCU_FLAG_WWDGTRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_LPRST)) {
		// printf("Low Power Reset\r\n");
		cause = RCU_FLAG_LPRST;
	}

	if (RESET != rcu_flag_get(RCU_FLAG_SWRST)) {
		// printf("Software Reset\r\n");
		cause = RCU_FLAG_SWRST;
	}
	// 清除所有复位标志
	rcu_all_reset_flag_clear();
	// printf("cause:%d\r\n", cause);
	return cause;
}

void OTA_initial(void) {
#if OTA_DEBUG
	u32 temp_val[6];
	// 3. 对于需要将0改回1的操作，必须先擦除整个Flash页
	volatile u32 *flash_ptr1 = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
	temp_val[0] = *flash_ptr1;
	flash_ptr1 = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
	temp_val[1] = *flash_ptr1;
	flash_ptr1 = (volatile u32 *)n_APP_LATEST_EN_ADDR;
	temp_val[2] = *flash_ptr1;
	flash_ptr1 = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
	temp_val[3] = *flash_ptr1;
	flash_ptr1 = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
	temp_val[4] = *flash_ptr1;
	flash_ptr1 = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
	temp_val[5] = *flash_ptr1;
	// 修复：完整输出所有6个配置项的值，便于调试
	printf("APP:CHECK LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, "
		   "BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n",
		   temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4],
		   temp_val[5]);
#endif

	// 确认当前APP可用
	volatile u32 *flash_ptr = (volatile u32 *)n_APP_LATEST_CHECK_ADDR;
	u32 app_check = *flash_ptr;
	if (app_check == OTA_NOT_AVAL) { // 新的APP刷入后第一次启动
#if OTA_DEBUG
		std::printf("APP enabled\r\n");
#endif
		move_app_data();
	}

	fmc_unlock();
	OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_AVAL);
	fmc_lock();

	u8 transmit_data[2] = {0x0A, 0xAC};
	// 确认APP可用
	CAN0_transmiter.CANFD_AsyncSend(CANFD_OTA_ACK_ID, 2, transmit_data);

	flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
	u32 back_aval = *flash_ptr;
	flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
	u32 back_check = *flash_ptr;

	if (back_aval == OTA_NOT_AVAL) { // 如果BACK不可用
#if OTA_DEBUG
		std::printf("notaval\r\n");
#endif
		move_app_data();
	} else if (back_aval == OTA_AVAL &&
			   back_check == OTA_NOT_AVAL) { // BACK已刷写，但未检查
#if OTA_DEBUG
		std::printf("aval\r\n");
#endif
		move_app_data();
	} else {
		printf("check\r\n");
	}
}