更新OTA功能，config独立成文件统一定义

refactor(build): 更新项目配置和链接器设置 - 修改GD32C103CB的ROM基地址和大小配置 - 更新系统时钟向量表偏移量设置 - 在cproject.yml中添加BIN输出格式支持 - 增加-O3优化级别和代码移除选项 - 更新csolution版本依赖 feat(device): 优化ADC采样和配置管理 - 将DengFOC依赖替换为FOC模块 - 从config.h引入配置常量 - 重命名FILTER_SIZE为ADC_FILTER_SIZE以提高清晰度 - 优化温度和电流采样滤波实现 refactor(algorithm): 简化FOC控制函数接口 - 为angle_control、velocity_control等函数移除不必要的参数 - 统一函数指针类型定义 - 优化电流计算函数的代码格式 - 调整PID控制器初始化参数
2026-01-04 22:26:22 +08:00
parent abd64da360
commit d0198fdff7
26 changed files with 716 additions and 439 deletions
@@ -0,0 +1,88 @@
+#ifndef __CONFIG_H
+#define __CONFIG_H
+#include <stdint.h>
+
+// 如果使用CMSIS DSP库，需要定义ARM_MATH_CM4
+// #define ARM_MATH_CM4
+
+#define EEP_DEBUG 1
+// BOOT 相关
+constexpr u32 BOOTLOADER_START_ADDR = 0x08000000; // BOOT起始地址
+constexpr u32 OTA_CONFIG_NUM = 6;
+constexpr u32 n_APP_LATEST_AVAL_ADDR = 0x0801D000;
+constexpr u32 n_APP_BACKUP_AVAL_ADDR = 0x0801D004;
+constexpr u32 n_APP_LATEST_EN_ADDR = 0x0801D008;
+constexpr u32 n_APP_BACKUP_EN_ADDR = 0x0801D00C;
+constexpr u32 n_APP_LATEST_CHECK_ADDR = 0x0801D010;
+constexpr u32 n_APP_BACKUP_CHECK_ADDR = 0x0801D014;
+constexpr u32 OTA_NOT_AVAL = 0xFFFFFFFF;
+constexpr u32 OTA_AVAL = 0x00000000; // 全零表示可用
+
+// 参数配置
+constexpr u8 PP = 11;
+constexpr float DIR = 1.0;
+constexpr u16 REDUCTION_RATIO = 25;
+constexpr float CURRENT_OFFSET = -1.615f; // 当前电流传感器的零点偏移
+constexpr float HOLD_PWM_DUTY = 0.95f;
+
+constexpr u32 CANFD_BOOT_ID = 0x00000000;
+constexpr u32 CANFD_STATUS_ID = 0x00010100;
+constexpr u32 CANFD_CONFIG_ID = 0x00010101;
+constexpr u32 CANFD_CMD_ID = 0x00010200;
+constexpr u32 CANFD_RESET_ID = 0x00010301;
+
+// 常量定义
+constexpr u8 SIZE_FLOAT = sizeof(float);
+constexpr u8 SIZE_U32 = sizeof(uint32_t);
+constexpr float ADC_MAX = 65536.0f;
+constexpr float PI = 3.14159265358979323846f;
+constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * PI;
+constexpr float DEG2RAD = 1.0f / 360.0f * 2 * PI;
+constexpr float RAD2DEG = 360.0f / 2 * PI;
+constexpr float _1_SQRT3 = 0.57735026919f; // 1/sqrt(3)
+constexpr float sqrt3dv2 = 0.86602540378f; // sqrt(3)/2的预计算值
+constexpr u8 DEFAULT_VALUE = 0;
+constexpr u8 CONFIG_SAVED_NUM = 6;
+
+// 三角函数快速计算LUT
+constexpr u16 LUT_SIZE = 1024;
+constexpr u16 LUT_MASK = (LUT_SIZE - 1);
+constexpr u16 LUT_SCALE = (LUT_SIZE / (2.0f * PI));
+
+// CAN相关
+constexpr u16 DEV_CAN0_ID = 0x0000;
+constexpr u16 DEV_CAN0_MASK = 0x0000;
+constexpr u16 DEV_CAN_LOOPBACK_ID = 0x0000;
+
+// ADC
+constexpr u8 ADC_FILTER_SIZE = 6;
+constexpr u8 BLOCK_SIZE = ADC_FILTER_SIZE * SIZE_FLOAT;
+constexpr float ERROR_ADC_VAL = 255.0f;
+constexpr float MAX_TEMP = 150.0f;
+constexpr float MIN_TEMP = -40.0f;
+constexpr float MAX_CURRENT = 40.0f;
+constexpr float MIN_CURRENT = -40.0f;
+constexpr float MAX_VCC = 65.0f;
+constexpr float MIN_VCC = -0.1f;
+
+// ang_sensor
+constexpr u16 VEL_FILTER_SIZE = 4;
+constexpr u16 DEFAULT_COMMAND = 0x0000;
+constexpr u16 FAULT_RECEIVE = 0xFFFF;
+constexpr float ANGLE_WRAP_THRESHOLD = 300.0f;
+constexpr float ANGLE_WRAP_VALUE = 360.0f;
+constexpr float RAD_FACTOR = 1.0f / ADC_MAX * 2.0f * PI;
+constexpr float ANGLESENS_FACTOR = 1.0f / ADC_MAX * 360.0f;
+
+// TIMER2-任务调度
+constexpr int TIMER2_PRESCALER = 119; // 120MHz / 120 = 1MHz
+constexpr int TIMER2_PERIOD = 99;	  // 1MHz / 100 = 100us
+
+// TIMER1-PWM
+constexpr int TIMER1_PRESCALER = 0; // 不分频，计数器时钟为120MHz
+constexpr int TIMER1_PERIOD = 5999; // 120MHz / (0+1) / (5999+1) = 20kHz
+constexpr int TIMER1_DEFAULT_PULSE = 0;
+constexpr int TIMER1_CH3_COMPARE_VALUE =
+	(TIMER1_PERIOD + 1) * 0.5 - 1; // PWM周期50%位置触发中断
+
+#endif
@@ -1,26 +1,28 @@
 #include "flash.h"
-#include "DengFOC.h"
+#include "FOC.h"
 #include "ang_sensor.h"
+#include "config.h"
+#include "gd32c10x.h"
 #include "gd32c10x_crc.h"
 #include "gd32c10x_fmc.h"
-#include "math.h"
 #include <Can.h>
-#include <Filter.h>
-#include <cstdio>
-#include <cstdlib>
 #include <cstring>
-#include <stdint.h>

 FlashEEPROM flashEEP = FlashEEPROM();
 extern angle_sensor KTH7823;
 extern CAN_transmiter CAN0_transmiter;
 extern FOC_Controlroller FOC; // FOC控制
-constexpr u8 SIZE_U32 = sizeof(uint32_t);
-constexpr u8 SIZE_FLOAT = sizeof(float);
-constexpr u8 DEFAULT_VALUE = 0;
-constexpr u8 NUM_SAVED = 6;
-#define EEPDEBUG 0

+inline fmc_state_enum write_ADDRESS(u32 address, u32 data) {
+	fmc_unlock();
+	fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
+
+	// 确保使用对齐地址
+	fmc_state_enum fmc_status = fmc_word_program(address, data);
+
+	fmc_lock();
+	return fmc_status;
+}
 // FlashEEPROM类实现
 FlashEEPROM::FlashEEPROM() {
 	// 构造函数可以为空，或者做一些初始化工作
@@ -56,8 +58,8 @@ u8 FlashEEPROM::init() {
 u8 FlashEEPROM::read_saved_system_config(void) {
 	// 读取保存的参数
 	u32 CRC_NUM = 0x0000;
-	FlashEepromStatus status_read[NUM_SAVED + 1] = {FLASH_EEPROM_OK};
-	float data[NUM_SAVED] = {0.0f};
+	FlashEepromStatus status_read[CONFIG_SAVED_NUM + 1] = {FLASH_EEPROM_OK};
+	float data[CONFIG_SAVED_NUM] = {0.0f};
 	// 尝试从Flash读取参数，如果不存在则使用默认值
 	status_read[1] = readFloat(ADDR_CONTROL_MODE, &data[0]);
 	status_read[2] = readFloat(ADDR_VOLTAGE_LIMIT, &data[1]);
@@ -67,7 +69,7 @@ u8 FlashEEPROM::read_saved_system_config(void) {
 	status_read[6] = readFloat(ADDR_TARGET_VEL, &data[5]);

 	// 读取失败则使用默认值
-	for (u8 i = 1; i < NUM_SAVED + 1; i++) {
+	for (u8 i = 1; i < CONFIG_SAVED_NUM + 1; i++) {
 		if (status_read[i] ==
 			FLASH_EEPROM_DATA_NOT_FOUND) { // 首次读取，不保存报错
 			data[i - 1] = DEFAULT_VALUE;
@@ -99,13 +101,13 @@ u8 FlashEEPROM::read_saved_system_config(void) {
 		}

 		crc_data_register_reset(); // 确保CRC计算从初始状态开始
-		CRC_NUM = crc_block_data_calculate((uint32_t *)data, NUM_SAVED);
+		CRC_NUM = crc_block_data_calculate((uint32_t *)data, CONFIG_SAVED_NUM);

-#if EEPDEBUG
+#if EEP_DEBUG
 		printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address));
 #endif
 		if (CRC_NUM != *((u32 *)next_address)) { // CRC错误
-			for (u8 i = 0; i < NUM_SAVED; i++) {
+			for (u8 i = 0; i < CONFIG_SAVED_NUM; i++) {
 				data[i] = DEFAULT_VALUE;
 			}
 			EEPROMStatus = FLASH_EEPROM_CRC_ERROR;
@@ -185,7 +187,7 @@ FlashEepromStatus FlashEEPROM::readFloat(u8 virtualAddr, float *data) const {
 				u32 float_data = data_word & DATA_FLOAT_MASK;
 				// 使用内存拷贝将处理后的数据解释为float
 				memcpy(data, &float_data, SIZE_FLOAT);
-#if EEPDEBUG
+#if EEP_DEBUG
 				printf("read:0x%x=%f\r\n", address, *data);
 #endif
 				return FLASH_EEPROM_OK;
@@ -218,7 +220,7 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
 		if ((data_read & DATA_ADDR_MASK) == (u32)virtualAddr) { // 虚拟地址相同
 			if ((data_read & DATA_U16_MASK) ==
 				(data & DATA_U16_MASK)) { // 数据相同
-#if EEPDEBUG
+#if EEP_DEBUG
 				data_read = data_read & DATA_U16_MASK;
 				u16 float_data_read = *((u16 *)&data_read);
 				printf("Found data in:0x%x=%u\r\n", address, data_read);
@@ -249,19 +251,14 @@ FlashEepromStatus FlashEEPROM::write(u8 virtualAddr, u16 data) {
 	if (next_address < EEPROM_END_ADDRESS) {
 		u32 data_word = ((u32)data << 16) | (u32)virtualAddr;

-		// 使用GD32库函数进行安全编程
-		fmc_unlock();
-		fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
-		fmc_state_enum fmc_status =
-			fmc_word_program(next_address, data_word); // 写入数据
-		fmc_lock();
+		fmc_state_enum fmc_status = write_ADDRESS(next_address, data_word);

 		if (fmc_status != FMC_READY) {
 			return FLASH_EEPROM_WRITE_ERROR;
 		}
 		return FLASH_EEPROM_OK;
 	} else { // 空间不足，需要格式化页面
-#if EEPDEBUG
+#if EEP_DEBUG
 		printf("no enough space\r\n");
 #endif
 		FlashEepromStatus status = format();
@@ -301,7 +298,7 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 			(u32)virtualAddr) { // 虚拟地址相同
 			if ((data_word_read & DATA_FLOAT_MASK) ==
 				(data_word & DATA_FLOAT_MASK)) { // 数据相同
-#if EEPDEBUG
+#if EEP_DEBUG
 				data_word_read = data_word_read & DATA_FLOAT_MASK;
 				float float_data_read = *((float *)&data_word_read);
 				printf("Found data in:0x%x=%f\r\n", address, float_data_read);
@@ -330,15 +327,8 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {

 	// 如果有足够空间，直接写入
 	if (next_address < EEPROM_END_ADDRESS) {
-		// 使用GD32库函数进行安全编程
-		fmc_unlock();
-		fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
-
-		// 确保使用对齐地址
-		fmc_state_enum fmc_status = fmc_word_program(next_address, data_word);
-
-		fmc_lock();
-#if EEPDEBUG
+		fmc_state_enum fmc_status = write_ADDRESS(next_address, data_word);
+#if EEP_DEBUG
 		u32 data_word_c = *((u32 *)next_address);
 		data_word_c = data_word_c & DATA_FLOAT_MASK;
 		float float_data = *((float *)&data_word_c);
@@ -350,7 +340,7 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 		return FLASH_EEPROM_OK;
 	} else {
 		// 空间不足，需要格式化页面
-#if EEPDEBUG
+#if EEP_DEBUG
 		printf("no enough space\r\n");
 #endif
 		FlashEepromStatus status = format();
@@ -370,7 +360,7 @@ FlashEepromStatus FlashEEPROM::writeFloat(u8 virtualAddr, float data) {
 */
 FlashEepromStatus FlashEEPROM::format() {
 	fmc_state_enum fmc_status;
-#if EEPDEBUG
+#if EEP_DEBUG
 	printf("擦除页面\r\n");
 #endif

@@ -395,9 +385,10 @@ FlashEepromStatus FlashEEPROM::format() {
 */
 FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 	u32 CRC_NUM = 0x0000;
-	float data[NUM_SAVED] = {(float)FOC.control_mode, FOC.limit_voltage,
-							 FOC.limit_velocity,	  FOC.rt_angle,
-							 FOC.target_angle,		  FOC.target_velocity};
+	float data[CONFIG_SAVED_NUM] = {
+		(float)FOC.control_mode, FOC.limit_voltage,
+		FOC.limit_velocity,		 FOC.rt_angle,
+		FOC.target_angle,		 FOC.target_velocity};

 	// 如果系统配置标记已保存，则无需再次保存
 	if (system_config_saved) {
@@ -445,10 +436,10 @@ FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 	}

 	// 创建用于CRC计算的模拟数据数组，模拟实际存储到Flash中的数据格式
-	u32 crc_data_words[NUM_SAVED];
+	u32 crc_data_words[CONFIG_SAVED_NUM];

 	// 按照writeFloat函数的方式处理数据
-	for (u8 i = 0; i < NUM_SAVED; i++) {
+	for (u8 i = 0; i < CONFIG_SAVED_NUM; i++) {
 		// 将完整的float数据复制到32位变量中
 		memcpy(&crc_data_words[i], &data[i], SIZE_FLOAT);
 		// 去除最后2位精度
@@ -456,7 +447,7 @@ FlashEepromStatus FlashEEPROM::save_system_config(bool saved) {
 	}

 	crc_data_register_reset(); // 确保CRC计算从初始状态开始
-	CRC_NUM = crc_block_data_calculate(crc_data_words, NUM_SAVED);
+	CRC_NUM = crc_block_data_calculate(crc_data_words, CONFIG_SAVED_NUM);
 	writeCRC(CRC_NUM, saved);

 	EEPROMStatus = FLASH_EEPROM_OK;
@@ -501,14 +492,10 @@ FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) {
 	if (*((u32 *)next_address) != CRC_NUM) {
 		// 如果有足够空间，直接写入crc值
 		if (next_address > EEPROM_START_ADDRESS) {
-			fmc_unlock();
-			fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR);
-			fmc_state_enum fmc_status = fmc_word_program(next_address, CRC_NUM);
-			fmc_lock();
-#if EEPDEBUG
+			fmc_state_enum fmc_status = write_ADDRESS(next_address, CRC_NUM);
+#if EEP_DEBUG
 			printf("CRC cmp1,0x%X_0x%x \r\n", CRC_NUM, *((u32 *)next_address));
 #endif
-
 			// 检查写入是否成功
 			if (fmc_status != FMC_READY) {
 				EEPROMStatus = fmc_status;
@@ -516,7 +503,7 @@ FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) {
 			}
 		} else {
 			// 空间不足，需要格式化页面
-#if EEPDEBUG
+#if EEP_DEBUG
 			printf("no enough space\r\n");
 #endif
 			FlashEepromStatus status = format();
@@ -539,4 +526,192 @@ FlashEepromStatus FlashEEPROM::writeCRC(u32 CRC_NUM, bool saved) {
 		EEPROMStatus = FLASH_EEPROM_CRC_ERROR; // 设置EEPROM错误状态
 		return FLASH_EEPROM_CRC_ERROR;
 	}
+}
+
+u8 OTA_SET(u32 addr, bool enable) {
+	fmc_state_enum fmc_status;
+	u32 temp_val[OTA_CONFIG_NUM];
+	u32 data = enable ? OTA_NOT_AVAL : OTA_AVAL;
+	volatile u32 *flash_ptr = (volatile u32 *)addr;
+	temp_val[0] = *flash_ptr;
+	if (temp_val[0] == data) {	// 如果相同
+		return FLASH_EEPROM_OK; // 成功
+	}
+
+	fmc_unlock();
+	// 如果不同，且要写0，直接写
+	if (data == OTA_AVAL) {
+		fmc_status = write_ADDRESS(addr, data);
+		fmc_lock();
+		if (fmc_status == FMC_READY) {
+			return FLASH_EEPROM_OK; // 成功可以直接退出
+		}
+	}
+
+	// 如果不同或写入出错，要写1，需要重置，然后再写
+	flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR;
+	temp_val[0] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR;
+	temp_val[1] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_LATEST_EN_ADDR;
+	temp_val[2] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_EN_ADDR;
+	temp_val[3] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
+	temp_val[4] = *flash_ptr;
+	flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR;
+	temp_val[5] = *flash_ptr;
+#if EEP_DEBUG
+	printf("OTA_SET\r\n");
+	printf("0x%x_0x%x_0x%x_0x%x\r\n", temp_val[0], temp_val[1], temp_val[2],
+		   temp_val[3]);
+#endif
+	fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR); // 擦除页
+	if (fmc_status != FMC_READY) {
+		return FLASH_EEPROM_ERASE_ERROR; // 擦除错误退出
+	}
+	for (int i = 0; i < OTA_CONFIG_NUM; i++) {
+		if (temp_val[i] == OTA_AVAL and
+			n_APP_LATEST_AVAL_ADDR + 4 * i != addr) {
+			fmc_status = write_ADDRESS(n_APP_LATEST_AVAL_ADDR + 4 * i,
+									   OTA_AVAL); // 把需要写入0的写入0
+			if (fmc_status != FMC_READY) {
+				fmc_lock();
+				return FLASH_EEPROM_WRITE_ERROR; // 写入错误退出
+			}
+		}
+	}
+	fmc_lock();
+	return FLASH_EEPROM_OK;
+}
+
+/**
+ * @brief  跳转应用处理模块
+ * @param  无
+ * @retval 无
+ */
+void jumpToBOOT() {
+	OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置APP为不激活
+	// 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. 设置中断向量表偏移到应用程序起始地址
+	SCB->VTOR = BOOTLOADER_START_ADDR;
+
+	// 6. 设置MSP并跳转
+	uint32_t msp_value = *(__IO uint32_t *)BOOTLOADER_START_ADDR;
+	uint32_t reset_handler = *(__IO uint32_t *)(BOOTLOADER_START_ADDR + 4);
+	typedef void (*AppEntryFunc)(void);
+	AppEntryFunc app_entry = (AppEntryFunc)reset_handler;
+	__set_MSP(msp_value);
+	// 7. 跳转
+	app_entry();
+
+	// 如果程序执行到这里，说明跳转失败
+	printf("Jump to application failed!\r\n");
+}
+
+/**
+ * @brief 将0x08011000地址后0xC000大小区域内的数据搬运到0x08050000地址
+ * @param None
+ * @retval fmc_state_enum: 操作状态
+ */
+fmc_state_enum move_app_data() {
+	// 源地址: 0x08011000
+	// 目标地址: 0x08050000
+	// 数据大小: 0xC000 (49152字节)
+
+	uint32_t src_addr = 0x08011000;
+	uint32_t dst_addr = 0x08050000;
+	uint32_t size = 0xC000; // 48KB
+
+	fmc_state_enum fmc_status = FMC_READY;
+
+	// 计算源数据的CRC
+	rcu_periph_clock_enable(RCU_CRC);
+	crc_deinit();
+	crc_data_register_reset();
+
+	// 临时缓冲区用于计算CRC
+	uint32_t word_count = size / 4;
+	uint32_t src_crc, dst_crc;
+
+	// 计算源数据CRC
+	src_crc = crc_block_data_calculate((uint32_t *)src_addr, word_count);
+
+	// 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
+	// 计算需要擦除的页面数量（GD32C103的Flash页大小为1KB）
+	uint32_t page_size = 1024;								 // 1KB per page
+	uint32_t num_pages = (size + page_size - 1) / page_size; // 向上取整
+
+	for (uint32_t i = 0; i < num_pages; i++) {
+		uint32_t page_addr = dst_addr + i * page_size;
+
+		// 擦除页面
+		fmc_status = fmc_page_erase(page_addr);
+		if (fmc_status != FMC_READY) {
+			fmc_lock();
+			__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
+	for (uint32_t offset = 0; offset < size; offset += 4) {
+		uint32_t src_data = *(volatile uint32_t *)(src_addr + offset);
+
+		// 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) {
+			fmc_status = fmc_word_program(dst_addr + offset, src_data);
+			if (fmc_status != FMC_READY) {
+				fmc_lock();
+				__enable_irq(); // 重新开启中断
+				return fmc_status;
+			}
+		}
+	}
+
+	fmc_lock();
+
+	// 重新开启全局中断
+	__enable_irq();
+
+	// 计算目标数据的CRC
+	crc_data_register_reset();
+	dst_crc = crc_block_data_calculate((uint32_t *)dst_addr, word_count);
+
+	// 比较源数据和目标数据的CRC
+	if (src_crc != dst_crc) {
+		// 如果CRC不匹配，可以选择返回错误状态
+		// 这里我们返回一个特殊值表示CRC校验失败
+		return (fmc_state_enum)0xFF; // 自定义错误码表示CRC校验失败
+	}
+
+	// 设置备份应用可用标志
+	OTA_SET(n_APP_BACKUP_AVAL_ADDR, OTA_AVAL);
+	OTA_SET(n_APP_BACKUP_CHECK_ADDR, OTA_AVAL);
+
+	return fmc_status;
 }
@@ -2,6 +2,8 @@
 #define __FLASH_H

 #include <stdint.h>
+#include "gd32c10x.h"  // 添加GD32主头文件以确保外设函数声明可用
+
 // 修改后 - 强制4字节对齐
 #define ALIGN_4BYTE(addr) ((addr) & 0xFFFFFFFC) // 4字节对齐

@@ -69,4 +71,7 @@ class FlashEEPROM {
 };

 void flash_eeprom_example_main(void);
+u8 OTA_SET(u32 addr, bool enable);
+fmc_state_enum move_app_data(void);
+
 #endif /* __FLASH_H */
@@ -1,9 +1,11 @@
 #include "health.h"
+#include "config.h"
+#include <stdint.h>
 #include "Can.h"
-#include "DengFOC.h"
+#include "FOC.h"
 #include "adc.h"
 #include "flash.h"
-#include <stdint.h>
+

 extern sampler sampler;
 extern CAN_transmiter CAN0_transmiter;
@@ -1,7 +1,10 @@
 #include "initial.h"
+#include "config.h"
+#include "flash.h"
 #include "gd32c10x.h"
 #include "gd32c10x_gpio.h"
 #include "gd32c10x_rcu.h"
+#include "gd32c10x_fmc.h"
 #include <cstdio>
 #include <stdint.h>
 #include <stdio.h>
@@ -27,7 +30,6 @@ u8 watchdog_init(u32 time) {
 	return status;
 }

-
 int fputc(int ch, FILE *f) throw() {
 	usart_data_transmit(EVAL_COM0, (uint8_t)ch);
 	while (RESET == usart_flag_get(EVAL_COM0, USART_FLAG_TBE))
@@ -91,3 +93,20 @@ u16 get_reset_cause(void) {
 	// printf("cause:%d\r\n", cause);
 	return cause;
 }
+
+void OTA_initial(void) {
+	// 确认当前APP可用
+	OTA_SET(n_APP_LATEST_CHECK_ADDR, true);
+
+	volatile u32 *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;
+	// 如果BACK不可用
+	if (back_aval == OTA_NOT_AVAL) {
+		move_app_data();
+	} else if (back_aval == OTA_AVAL &&
+			   back_check == OTA_NOT_AVAL) { // BACK已刷写，但未检查
+		move_app_data();
+	}
+}
@@ -5,23 +5,11 @@
 extern "C" {
 #endif

+#include "config.h"
 #include "gd32c10x_eval.h"
 #include "stdint.h"
 #include <stdio.h>

-
-constexpr u16 REDUCTION_RATIO = 25;
-constexpr float DEG2RAD = 1.0f / 360.0f * 6.28318530718f;
-constexpr float RAD2DEG = 360.0f / 6.28318530718f;
-
-void rcu_config(void);
-static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
-int fputc(int ch, FILE *f);						// 声明fputc函数以重载标准库实现
-
-u8 USART0_init(void);
-u8 watchdog_init(u32 time);
-u16 get_reset_cause(void);
-void unused_pin_init();
 // 任务标志定义
 typedef enum {
 	TASK_MOTOR_CONTROL = 0,
@@ -37,6 +25,16 @@ typedef enum {
 	TASK_COUNT
 } SystemTask;

+void rcu_config(void);
+static volatile uint32_t timer_delay_count = 0; // volatile 很重要！
+int fputc(int ch, FILE *f);						// 声明fputc函数以重载标准库实现
+
+u8 USART0_init(void);
+u8 watchdog_init(u32 time);
+u16 get_reset_cause(void);
+void unused_pin_init();
+void OTA_initial(void);
+
 // 任务管理结构
 typedef struct {
 	volatile u32 taskFlags; // 任务标志位(每个位代表一个任务)
@@ -83,7 +83,6 @@ void delay_1ms(uint32_t count) {
 	delay = count;
 	while (0U != delay) {
 		fwdgt_counter_reload();
-		fwdgt_counter_reload();
 	}
 }

@@ -177,4 +176,10 @@ void EXTI5_9_IRQHandler(void) {
 		printf("MCU wake up\r\n");
 		system_soft_reset();
 	}
+}
+
+
+void OTA_initial(){
+	
+
 }