/* USER CODE BEGIN Header */ /** ****************************************************************************** * @file : main.c * @brief : Main program body ****************************************************************************** * @attention * * Copyright (c) 2025 STMicroelectronics. * All rights reserved. * * This software is licensed under terms that can be found in the LICENSE file * in the root directory of this software component. * If no LICENSE file comes with this software, it is provided AS-IS. * ****************************************************************************** */ /* USER CODE END Header */ /* Includes ------------------------------------------------------------------*/ #include "main.h" #include "usb_device.h" #include "gpio.h" /* Private includes ----------------------------------------------------------*/ /* USER CODE BEGIN Includes */ #include "usbd_cdc_if.h" #include "drv_chipFlash.h" #include "drv_IAP.h" #include "usbd_cdc.h" /* USER CODE END Includes */ /* Private typedef -----------------------------------------------------------*/ /* USER CODE BEGIN PTD */ /* USER CODE END PTD */ /* 函数指针 */ typedef void (*pFunction)(void); pFunction Jump_To_Application; /* 用户函数跳转地址 */ uint32_t JumpAddress; uint32_t AppAddress = APPLICATION_ADDRESS; uint32_t cur_address = 0; uint64_t IF_IAP_FLAG = 0; uint32_t recv_finish_time = 0; uint32_t program_succeed = 0, program_err = 0, num_repeat = 0, num_err = 0, rec_err = 0, crc_err = 0; int16_t RCC_FLAG = 0; //uint8_t last_buf[256] = {0}; uint8_t last_buf[8] = {255}; // 补0; /* Private define ------------------------------------------------------------*/ /* USER CODE BEGIN PD */ /* USER CODE END PD */ /* Private macro -------------------------------------------------------------*/ /* USER CODE BEGIN PM */ /* USER CODE END PM */ /* Private variables ---------------------------------------------------------*/ /* USER CODE BEGIN PV */ /* USER CODE END PV */ /* Private function prototypes -----------------------------------------------*/ void SystemClock_Config(void); /* USER CODE BEGIN PFP */ /* USER CODE END PFP */ /* Private user code ---------------------------------------------------------*/ /* USER CODE BEGIN 0 */ /* USER CODE END 0 */ /** * @brief The application entry point. * @retval int */ uint32_t sysclk; uint32_t hclk; uint32_t pclk1; uint32_t pclk2; uint32_t _tick; int main(void) { /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ //__set_PRIMASK(0); /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); _tick = HAL_GetTick(); if(_tick == 0){ HAL_InitTick(TICK_INT_PRIORITY); } /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); HAL_Delay(1000); MX_USB_DEVICE_Init(); /* USER CODE BEGIN 2 */ sysclk = HAL_RCC_GetSysClockFreq(); hclk = HAL_RCC_GetHCLKFreq(); pclk1 = HAL_RCC_GetPCLK1Freq(); pclk2 = HAL_RCC_GetPCLK2Freq(); /*--------------------------------处理急救模式----------------------------------*/ if(recv_aid_flag == true) { //USBD_Stop(&hUsbDeviceFS); //USBD_CDC_Stop(&hUsbDeviceFS); while(FLASH_ErasePage(APPLICATION_ADDRESS - SECTOR_SIZE, 1)!= 0){ HAL_Delay(100); } //写下需要升级标志 unsigned short iap_flag = 0x1001; // while(FLASH_WriteMoreData(SET_ADDRESS + 2,(uint64_t*)&iap_flag,2) != 0){ // HAL_Delay(100); // } //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); HAL_Delay(100); } /* 读升级标志 */ FLASH_ReadMoreData(APPLICATION_ADDRESS - SECTOR_SIZE, (uint64_t *)&IF_IAP_FLAG, 8); /*--------------------------------处理升级模式----------------------------------*/ if(IF_IAP_FLAG == (int16_t)0x1001) { send_mavlink_bootloader_status(BOOTLOADER_STATUS_NEEDTRANSMIT); while(1) { if(recv_iap_flag == INIT) { if(recv_init_flag == true){ //固件升级初始化阶段 recv_init_flag = false; //清除初始化标志位 //重新初始化写入地址，不初始化的话会再次点击升级或者电台延时错位写入地址会出错 AppAddress = APPLICATION_ADDRESS; pre_iap_bin_num = 0; //前序包计数器 iap_bin_num = 0; //当前包计数器 send_what = MAVLINK_ACK_ID; ack_id = 200; id_cont = 0; program_succeed = 0; program_err = 0; num_repeat = 0; num_err = 0; rec_err = 0; } if(recv_erasure_flag == true){ // __disable_irq(); //USBD_Stop(&hUsbDeviceFS); //USBD_CDC_Stop(&hUsbDeviceFS); pack_send_flag = false; erasure_bin_flash(); pack_send_flag = true; // __enable_irq(); HAL_Delay(100); //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); recv_iap_flag = TRANSMIT; recv_erasure_flag = false; } } else if(recv_iap_flag == TRANSMIT){ if(recv_onepack_flag == true){ if(iap_bin_num == (pre_iap_bin_num + 1)){ if((uint16_t) one_pack_size % 8 != 0){ // memcpy(last_buf, &usb_rx_buf[8], (uint16_t) one_pack_size); // int resultsize = one_pack_size / 8 + 1; // if(FLASH_Write_DoubleWord(AppAddress, (uint64_t *)&last_buf[0], (uint16_t)resultsize) == 0) // { // //编程成功 // recv_onepack_flag = false; // //USBD_Stop(&hUsbDeviceFS); // //USBD_CDC_Stop(&hUsbDeviceFS); // pack_send_flag = true; //打开接收 // pre_iap_bin_num++; // AppAddress = cur_address; // send_what = MAVLINK_ACK_ID; // ack_id = 201; // id_cont = iap_bin_num; // //记录 // program_succeed++; // } /////////////////////////////////////////////////////////////////////////////////////////// uint16_t remain_bytes = (uint16_t)one_pack_size % 8; uint16_t full_doublewords = (uint16_t)one_pack_size / 8; if (full_doublewords > 0) { // 先写满8字节的部分 if (FLASH_Write_DoubleWord(AppAddress, (uint64_t *)&usb_rx_buf[8], full_doublewords) == 0) { AppAddress = cur_address; } } if (remain_bytes > 0) { memcpy(last_buf, &usb_rx_buf[8 + full_doublewords * 8], remain_bytes); if (FLASH_Write_DoubleWord(AppAddress, (uint64_t *)last_buf, 1) == 0) { //编程成功 recv_onepack_flag = false; //USBD_Stop(&hUsbDeviceFS); //USBD_CDC_Stop(&hUsbDeviceFS); pack_send_flag = true; //打开接收 pre_iap_bin_num++; AppAddress = cur_address; send_what = MAVLINK_ACK_ID; ack_id = 201; id_cont = iap_bin_num; //记录 program_succeed++; } } } //if(FLASH_Write(AppAddress, (uint32_t *)&usb_rx_buf[8], (uint32_t)one_pack_size / 4) == 0) //if(FLASH_Write_HalfWord(AppAddress, (uint16_t *)&usb_rx_buf[8], (uint16_t)one_pack_size / 2) == 0) else if(FLASH_Write_DoubleWord(AppAddress, (uint64_t *)&usb_rx_buf[8], (uint16_t)one_pack_size / 8) == 0) { //编程成功 recv_onepack_flag = false; //USBD_Stop(&hUsbDeviceFS); //USBD_CDC_Stop(&hUsbDeviceFS); pack_send_flag = true; //打开接收 pre_iap_bin_num++; AppAddress = cur_address; send_what = MAVLINK_ACK_ID; ack_id = 201; id_cont = iap_bin_num; //记录 program_succeed++; } else{ //编程失败 recv_onepack_flag = false; //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); pack_send_flag = true; //打开接收 program_err++; } } else if(iap_bin_num == pre_iap_bin_num){ recv_onepack_flag = false; pack_send_flag = true; //打开接收 //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); send_what = MAVLINK_ACK_ID; ack_id = 201; id_cont = iap_bin_num; //记录 num_repeat++; } else{ recv_onepack_flag = false; //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); send_what = MAVLINK_ACK_ID; ack_id = 201; id_cont = iap_bin_num; num_err++; } } } else if(recv_iap_flag == FINISH){ if(recv_finish_flag == true){ recv_finish_flag = false; send_what = MAVLINK_ACK_ID; ack_id = 202; id_cont = iap_bin_num; recv_finish_time = HAL_GetTick(); } //等待1.5s 若无数据认为交互完成 if(HAL_GetTick() - recv_finish_time > 1500){ send_mavlink_bootloader_status(BOOTLOADER_STATUS_OK); HAL_FLASH_Lock(); //关闭接收中断 //USBD_Stop(&hUsbDeviceFS); //USBD_CDC_Stop(&hUsbDeviceFS); HAL_Delay(100); if((*(volatile uint32_t *)APPLICATION_ADDRESS) <= 0x20020000 && (*(volatile uint32_t *)APPLICATION_ADDRESS) >= 0x20000000) { Cleanup_Before_Jump(); //APPLICATION_ADDRESS + 4对应的是app中断向量表的第二项，复位地址 JumpAddress = *(volatile uint32_t *) (APPLICATION_ADDRESS + 4); //把地址强转为函数指针 Jump_To_Application = (pFunction) JumpAddress; //设置主函数栈指针 __set_MSP(*(volatile uint32_t *)APPLICATION_ADDRESS); /*在RTOS工程，这条语句很重要，设置为特权模式，使用MSP指针 */ __set_CONTROL(0); //重新开启USB // USBD_CDC_Start(&hUsbDeviceFS); //调用函数，实际失去app复位地址去执行复位操作 Jump_To_Application(); } HAL_Delay(100); recv_iap_flag = FAIL; //打开接收中断 //USBD_Start(&hUsbDeviceFS); //USBD_CDC_Start(&hUsbDeviceFS); //MX_USB_DEVICE_DeInit(); } } else if(recv_iap_flag == FAIL){ HAL_Delay(600); } switch(send_what){ case 0: HAL_Delay(600); HAL_Delay(600); send_mavlink_bootloader_status(BOOTLOADER_STATUS_NEEDTRANSMIT); break; case MAVLINK_IAP_HEART: break; case MAVLINK_ACK_ID: send_mavlink_ack(); send_what = MAVLINK_IAP_HEART; break; default: break; } } } else { //usb_log_debug("APP start!\r\n"); //HAL_Delay(500); if(((*(volatile uint32_t *)APPLICATION_ADDRESS) & 0x2FFE0000) == 0x20000000) { Cleanup_Before_Jump(); uint32_t a = (*(volatile uint32_t *)APPLICATION_ADDRESS); //APPLICATION_ADDRESS + 4对应的是app中断向量表的第二项，复位地址 JumpAddress = *(volatile uint32_t *)(APPLICATION_ADDRESS + 4); //把地址强转为函数指针 Jump_To_Application = (pFunction) JumpAddress; //设置主函数栈指针 __set_MSP(*(volatile uint32_t *)APPLICATION_ADDRESS); /*在RTOS工程，这条语句很重要，设置为特权模式，使用MSP指针 */ __set_CONTROL(0); //调用函数，实际是去app复位函数去执行复位操作 Jump_To_Application(); } HAL_Delay(600); } for(;;) { static char error_counts = 0; HAL_Delay(600); error_counts++; if(error_counts > 10){ while(FLASH_ErasePage(APPLICATION_ADDRESS - SECTOR_SIZE, 1)!= 0){ HAL_Delay(100); } //写下需要升级标志 unsigned short iap_flag = 0x1001; // while(FLASH_WriteMoreData(SET_ADDRESS + 2,(uint64_t*)&iap_flag,2) != 0){ // HAL_Delay(100); // } HAL_FLASH_Lock(); HAL_Delay(200); HAL_NVIC_SystemReset(); } } /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ /* USER CODE END 3 */ } /** * @brief System Clock Configuration * @retval None */ void SystemClock_Config(void) { RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Configure the main internal regulator output voltage */ if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK) { Error_Handler(); } /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLM = 1; RCC_OscInitStruct.PLL.PLLN = 20; RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7; RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2; RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK) { Error_Handler(); } } /* USER CODE BEGIN 4 */ /* USER CODE END 4 */ /** * @brief This function is executed in case of error occurrence. * @retval None */ void Error_Handler(void) { /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */ } #ifdef USE_FULL_ASSERT /** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */ void assert_failed(uint8_t *file, uint32_t line) { /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */ /* USER CODE END 6 */ } #endif /* USE_FULL_ASSERT */ /* 开关全局中断的宏 */ #define ENABLE_INT() __set_PRIMASK(0) /* 使能全局中断 */ #define DISABLE_INT() __set_PRIMASK(1) /* 禁止全局中断 */ void Cleanup_Before_Jump(void){ uint32_t i = 0; //关闭外设 USBD_DeInit(&hUsbDeviceFS); //关闭中断 DISABLE_INT(); //重置RCC HAL_RCC_DeInit(); // //重置SysTick SysTick->CTRL = 0; SysTick->LOAD = 0; SysTick->VAL = 0; for(i = 0;i < 8; i++){ NVIC->ICER[i] = 0xFFFFFFFF; NVIC->ICPR[i] = 0xFFFFFFFF; } //重启中断 ENABLE_INT(); }