#include "soft_update.h" #include "soft_obstacle.h" #include "soft_terrain.h" #include "string.h" #include "soft_usart.h" #include "soft_device.h" #include "soft_can.h" #include "main_task.h" #include "soft_crc.h" #include "usart_data_handle.h" #include "config.h" bool radar_update_flag = false; Radar Rupdate; /** * @file can_recv_mocib_updata_read_set_hookfunction * @brief 莫之比协议升级 * @param * @details * @author Zhang Sir **/ bool uavrhup_getr1_ack = false; void can_recv_mocib_updata_read_set_hookfunction(uint32_t cellCanID, uint8_t data[]) { //AG代码 和雷达升级不兼容,优先升级 if (Rupdate.update_flag == true) { //避障雷达升级 if (Rupdate.buf_flag == false) { memcpy(Rupdate.update_buf, data, 8); Rupdate.buf_flag = true; switch (cellCanID) { case 0x7E1: Rupdate.U7E1 = true; break; case 0x7E3: Rupdate.U7E3 = true; break; case 0x7E6: Rupdate.U7E6 = true; break; default: break; } } } else { switch (cellCanID) { //莫之比雷达反馈版本信息 case 0X7E1: uavrhup_getr1_ack = true; break; //莫之比雷达设置灵敏度及反馈 case CAN_UAVRH_SENSI_SA: if (data[0] == 0x11) { uavr11_info.set_radar_sensi_ack = true; //莫之比大端模式 uavr11_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } else if (data[0] == 0x12) { uavr12_info.set_radar_sensi_ack = true; //莫之比大端模式 uavr12_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } else if(data[0] == 0x0B) { uavr56_info.set_radar_sensi_ack = true; uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } break; //莫之比雷达读取灵敏度及反馈 case CAN_UAVRH_SENSI_RA: if (data[0] == 0x11) { uavr11_info.get_radar_sensi_flag = true; //莫之比大端模式 uavr11_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } else if (data[0] == 0x12) { uavr12_info.get_radar_sensi_flag = true; //莫之比大端模式 uavr12_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } else if(data[0] == 0x0B) { uavr56_info.get_radar_sensi_flag = true; uavr56_info.get_radar_sensi = ((data[1] << 8) & 0xff00) + data[2]; } default: break; } } } /** * @file Vk_Update_Device_Protocol * @brief VK协议设备升级 * @param * @details * @author Zhang Sir **/ uint8_t Factory_DevId[3] = {0}; Update update_info; void Vk_Update_Device_Protocol(void) { static uint32_t send_msgtime_2HZ = 0; if(uart_send_is_ok(USART_1) == true) { if(update_info.step_200_flag == true ) { Update_ack_func(update_info.buf[DEVICE],200,&update_info.buf[PACK_NUM]); update_info.step_200_flag = false; } else if(update_info.step_201_flag == true) { Update_ack_func(update_info.buf[DEVICE],201,&update_info.buf[PACK_NUM]); update_info.step_201_flag = false; } else if(update_info.step_202_flag == true) { Update_ack_func(update_info.buf[DEVICE],202,&update_info.buf[PACK_NUM]); update_info.step_202_flag = false; } } if(update_info.vk_dev_update_flag == false) return; if(HAL_GetTick() - send_msgtime_2HZ < 100) return; send_msgtime_2HZ = HAL_GetTick(); uint16_t crc = 0; uint8_t can_buf[8] = {0}; uint8_t i = 0; uint8_t dev_id = 0; //FMUPMU协议ID号10进制，设备升级协议16进制 if(update_info.buf[DEVICE] == 56) dev_id = 0x56; else if(update_info.buf[DEVICE] == 51) dev_id = 0x11; else if(update_info.buf[DEVICE] == 52) dev_id = 0x12; else dev_id = update_info.buf[DEVICE]; switch (update_info.buf[UPDATE_STEP]) { case UPDATE_START: can_buf[0] = dev_id; memcpy(&can_buf[1],&update_info.buf[PAYLOAD - 2],4); switch (can_buf[0]) { case UPDATE_OBS_F: if(Dev.Radar.facid_F == FAC_MIMO_RF || Dev.Part_radarF.facid == FAC_MIMO_RF) { memcpy(&can_buf[5],"TR0",3); } break; case UPDATE_OBS_B: if(Dev.Radar.facid_B == FAC_MIMO_RB || Dev.Part_radarB.facid == FAC_MIMO_RB) { memcpy(&can_buf[5],"TR0",3); } break; case UPDATE_TERAIN: if(Dev.Radar.facid_T == FAC_MIMO_RT || Dev.Part_radarT.facid == FAC_MIMO_RT) { memcpy(&can_buf[5],"TR0",3); } break; case UPDATE_OBS360: break; case UPDATE_SEED: break; case UPDATE_FLOW: break; case UPDATE_BMS: break; case UPDATE_DISTOR: break; case UPDATE_WEIGHT: if(Dev.Weight.facid == FAC_VK) { memcpy(&can_buf[5],"VK1",3); } break; default: break; } Can_Send_Msg_Func(CANID1, can_buf, 8, 0x381400, CAN_ID_EXT); break; case UPDATE_ING: while (i < (update_info.buf[LEN] - 2 + 8) && update_info.vk_dev_pack_num == (update_info.buf[PACK_NUM] + update_info.buf[PACK_NUM + 1] * 256)) { if(i == 0) { crc = Get_Crc16( &update_info.buf[PAYLOAD],update_info.buf[LEN] - 2); can_buf[0] = 0xFE; can_buf[1] = 0xFE; can_buf[2] = dev_id; can_buf[3] = update_info.buf[LEN] - 2; can_buf[4] = update_info.buf[PACK_NUM]; can_buf[5] = update_info.buf[PACK_NUM + 1]; can_buf[6] = crc & 0xff; can_buf[7] = (crc >> 8) & 0xff; } else { memcpy(&can_buf[0],&update_info.buf[i],8); } i += 8; Can_Send_Msg_Func(CANID1, can_buf, 8, 0x401400, CAN_ID_EXT); memset(&can_buf[0],0,8); } break; case UPDATE_END: can_buf[0] = dev_id; Can_Send_Msg_Func(CANID1, can_buf, 8, 0x481400, CAN_ID_EXT); update_info.vk_dev_update_flag = false; break; default: break; } } void Update_Dev_Bootversion_Function(uint8_t data[]) { if(data[4] != 0x01) return; pmu_send = PMU_SEND_VERSION; switch (data[0]) { case UPDATE_OBS_F: if(memcmp((char *)&data[1],"TR0",3) == 0) { mimo_f_info.Link.connect_status = COMP_NORMAL; mimo_f_info.Link.recv_time = HAL_GetTick(); mimo_f_info.Link.boot_flag = true; Dev.Radar.facid_F = FAC_MIMO_RF; } break; case UPDATE_OBS_B: if(memcmp((char *)&data[1],"TR0",3) == 0) { mimo_b_info.Link.connect_status = COMP_NORMAL; mimo_b_info.Link.recv_time = HAL_GetTick(); mimo_b_info.Link.boot_flag = true; Dev.Radar.facid_B = FAC_MIMO_RB; } break; case UPDATE_TERAIN: if(memcmp((char *)&data[1],"TR0",3) == 0) { mimo_ter_info.Link.connect_status = COMP_NORMAL; mimo_ter_info.Link.recv_time = HAL_GetTick(); mimo_ter_info.Link.boot_flag = true; Dev.Radar.facid_T = FAC_MIMO_RT; } break; case UPDATE_OBS360: break; case UPDATE_SEED: break; case UPDATE_FLOW: break; case UPDATE_BMS: break; case UPDATE_DISTOR: break; case UPDATE_WEIGHT: if(memcmp((char *)&data[1],"VK1",3) == 0) { } break; default: break; } } /** * @file Can_obstacle_update * @brief 莫之比雷达CAN口在线升级函数 * @param 0=发送升级请求 1=接收请求升级状态 2=发送格式化指令 * 3=接收格式化状态 4=向雷达发送升级包 5=发送校验和 6=接收雷达固件更新状态 * @details * @author Zhang Sir **/ uint32_t update_count = 0; void Can_obstacle_update() { static uint32_t update_i = 0; static uint32_t check_sum = 0; static uint16_t pack_count = 1; uint16_t size_count = 0; uint32_t for_i = 0; uint8_t obstacle_buf[8] = {0}; switch (update_count) { case 0: //向雷达发送请求升级 if (update_info.buf[4] == 51) { obstacle_buf[0] = 0x11; // 前雷达 } else if (update_info.buf[4] == 52) { obstacle_buf[0] = 0x12; //后雷达 } else if (update_info.buf[4] == 56) { obstacle_buf[0] = 0x0B; } HAL_Delay(100); Can_Send_Msg_Func(CANID1, obstacle_buf, 1, 0x7E0, CAN_ID_EXT); update_count = 1; break; case 1: if (Rupdate.buf_flag == true && Rupdate.U7E1 == true) { if (Rupdate.update_buf[1] == 0x00) //radar_update_buf[0] 0x11 0x12 { //雷达进入刷写模式 update_count = 2; } else if (Rupdate.update_buf[1] == 0x01) { //退出刷写模式 radar_update_flag = false; //关闭升级 update_count = 0; } Rupdate.U7E1 = false; Rupdate.buf_flag = false; memset(Rupdate.update_buf,0,8); } break; case 2: memset(obstacle_buf, 0, 8); obstacle_buf[0] = 0x01; obstacle_buf[1] = 0x09; obstacle_buf[2] = 0x09; obstacle_buf[3] = 0x04; obstacle_buf[4] = 0x00; obstacle_buf[5] = 0x09; obstacle_buf[6] = 0x02; obstacle_buf[7] = 0x06; HAL_Delay(100); Can_Send_Msg_Func(CANID1, obstacle_buf, 8, 0x7E2, CAN_ID_EXT); update_count = 3; break; case 3: if (Rupdate.buf_flag == true && Rupdate.U7E3 == true) { if (Rupdate.update_buf[0] == 0xA6) { //格式化成功 update_count = 4; update_i = 16; Update_ack_func(update_info.buf[4], 200, &update_info.buf[6]); update_info.use_update_buf_flag = false; //防止连续升级 check_sum = 0; } else if (Rupdate.update_buf[0] == 0xA8) { //格式化失败 radar_update_flag = false; Rupdate.update_flag = false; update_count = 0; } Rupdate.U7E3 = false; Rupdate.buf_flag = false; } break; case 4: if (update_info.use_update_buf_flag == true) { if (update_info.buf[5] == 201) { memcpy(&size_count, &update_info.buf[6], 2); if (pack_count == size_count) { //防止发送相同包 // 第一包前8字节不要 第二包开始发送全部128字节 Can_Send_Msg_Func(CANID1, &update_info.buf[update_i], 8, 0x7E4, CAN_ID_EXT); for (for_i = 0; for_i < 8; for_i++) // 计算校验 { check_sum += update_info.buf[update_i + for_i]; } update_i += 8; if (update_i >= 136) { update_i = 8; pack_count++; Update_ack_func(update_info.buf[4], 201, &update_info.buf[6]); memset(&update_info.buf[0], 0, 150); update_info.use_update_buf_flag = false; } } else if(pack_count > size_count) { Update_ack_func(update_info.buf[4], 201, &update_info.buf[6]); update_info.use_update_buf_flag = false; } } else if (update_info.buf[5] == 202) { //串口结束标志 Update_ack_func(update_info.buf[4], 202, &update_info.buf[6]); update_count = 5; update_info.use_update_buf_flag = false; } else if (update_info.buf[5] == 200) { Update_ack_func(update_info.buf[4], 200, &update_info.buf[6]); update_info.use_update_buf_flag = false; } else { update_info.use_update_buf_flag = false; } } break; case 5: memset(obstacle_buf, 0, 8); obstacle_buf[0] = (check_sum >> 24) & 0xff; obstacle_buf[1] = (check_sum >> 16) & 0xff; obstacle_buf[2] = (check_sum >> 8) & 0xff; obstacle_buf[3] = (check_sum)&0xff; Can_Send_Msg_Func(CANID1, obstacle_buf, 4, 0x7E5, CAN_ID_EXT); update_count = 6; break; case 6: if (Rupdate.buf_flag == true && Rupdate.U7E6 == true) { if (Rupdate.update_buf[0] == 0x66) { update_count = 0; //更新成功 } else if (Rupdate.update_buf[0] == 0x88) { update_count = 0; //校验失败 } else if (Rupdate.update_buf[0] == 0xff) { update_count = 0; //表示固件超出最大存储空间， bootloader将重新格式化扇区，并将版本回退到出厂固件?? } pack_count = 1; Rupdate.buf_flag = false; radar_update_flag = false; Rupdate.update_flag = false; Rupdate.U7E6 = false; //重新发送版本信息 uavr11_info.get_radar_ver_flag = false; uavr12_info.get_radar_ver_flag = false; uavr56_info.get_radar_ver_flag = false; } break; default: break; } } /** * @file mimo_obs_update_func * @brief EZ雷达升级 * @param * @details * @author Zhang Sir **/ uint8_t radar_node_id = 0; ez_update EZup_par; void mimo_obs_update_func(void) { static uint32_t send_msgtime_5HZ = 0; if(uart_send_is_ok(USART_1) == true) { if(update_info.step_200_flag == true ) { Update_ack_func(update_info.buf[DEVICE],200,&update_info.buf[PACK_NUM]); update_info.step_200_flag = false; } else if(update_info.step_201_flag == true) { Update_ack_func(update_info.buf[DEVICE],201,&update_info.buf[PACK_NUM]); update_info.step_201_flag = false; } else if(update_info.step_202_flag == true) { Update_ack_func(update_info.buf[DEVICE],202,&update_info.buf[PACK_NUM]); update_info.step_202_flag = false; } } if(EZup_par.update_flag != true) return; if(Check_Timer_Ready(&send_msgtime_5HZ,_20_HZ_) != true) return; uint8_t ez_can[8] = {0}; static uint8_t frame_i = 1; static uint16_t data_count = 0,ez_crc = 0; if(UPDATE_END == update_info.buf[UPDATE_STEP]) { EZup_par.step = STEP_ENDING; update_info.step_202_flag = true; } switch (EZup_par.step) { case STEP_FIND_NODE: for(uint8_t i = 0;i < 126;i++) { put_date_to_can(ez_can,i,0x06,0xB2,0X80,0XFF,0XFF,0XFF,0XFF); Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); } break; case STEP_JUMP_BOOT: put_date_to_can(ez_can,EZup_par.node_id,0x06,0xB3,0XC1,0X42,0X4F,0X4F,0X54); Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); put_date_to_can(ez_can,EZup_par.node_id,0x06,0xB2,0X80,0XFF,0XFF,0XFF,0XFF); //确定雷达所在区域 Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); break; case STEP_EASER_FLASH: HAL_Delay(500); put_date_to_can(ez_can,EZup_par.node_id,0x06,0xB4,0X42,0X00,0X00,0X00,0X00); ez_can[4] = (update_info.bin_size >> 24) & 0xff; ez_can[5] = (update_info.bin_size >> 16) & 0xff; ez_can[6] = (update_info.bin_size >> 8) & 0xff; ez_can[7] = update_info.bin_size & 0xff; Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); break; case STEP_SET_OFFSET_ADR: put_date_to_can(ez_can,EZup_par.node_id,0x06,0xB4,0X03,0X00,0X01,0X17,0X3C); ez_can[4] = (EZup_par.adr_offset>> 24) & 0xff; ez_can[5] = (EZup_par.adr_offset >> 16) & 0xff; ez_can[6] = (EZup_par.adr_offset >> 8) & 0xff; ez_can[7] = EZup_par.adr_offset & 0xff; Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); break; case STEP_SEND_DATE: while (update_info.vk_dev_pack_num == (update_info.buf[PACK_NUM] + update_info.buf[PACK_NUM + 1] * 256) && EZup_par.pack_content != PACK_WAIT) { switch (EZup_par.pack_content) { case PACK_HEAD: EZup_par.frame_pci = 0x10 + (((128 + 2) >> 8) & 0x7); EZup_par.frame_len = (128+2) & 0xff; put_date_to_can(ez_can,EZup_par.node_id,EZup_par.frame_pci,EZup_par.frame_len,0XB4,0XC4,0X00,0X00,0X00); memcpy(&ez_can[5],&update_info.buf[PAYLOAD],3); EZup_par.pack_content = PACK_CONT; data_count += 3; break; case PACK_CONT: EZup_par.frame_pci = 0x20 + frame_i; ez_can[0] = EZup_par.node_id; ez_can[1] = EZup_par.frame_pci; frame_i++; memcpy(&ez_can[2],&update_info.buf[PAYLOAD + data_count],6); data_count += 6; if(data_count >= 128) { EZup_par.pack_content = PACK_CRC; ez_can[7] = 0xff; } if(frame_i > 15) frame_i = 0; break; case PACK_TAIL: EZup_par.pack_content = PACK_CRC; break; case PACK_CRC: data_count = 0; frame_i = 1; ez_crc = crc16_ccitt(&update_info.buf[PAYLOAD],128); put_date_to_can(ez_can,EZup_par.node_id,0X06,0xB4,0X85,(ez_crc >> 8) & 0xff,(ez_crc & 0xff),0XFF,0XFF); EZup_par.pack_content = PACK_WAIT; //只发一次 break; default: break; } Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); HAL_Delay(1); } break; case STEP_ENDING: put_date_to_can(ez_can,EZup_par.node_id,0x06,0xB4,0X06,0X41,0X50,0X50,0XFF); Can_Send_Msg_Func(CANID1, ez_can, 8, 0x3c, CAN_ID_STD); EZup_par.step = STEP_DEFAULT; EZup_par.update_flag = false; mimo_f_info.get_radar_ver_flag = false; mimo_b_info.get_radar_ver_flag = false; mimo_ter_info.get_radar_ver_flag = false; break; default: break; } } void EZ_Radar_UpdateCanRecvHookFunction(uint32_t CanID, uint8_t data[], uint8_t len) { if(data[1] == 0x06 && data[2] == 0xF2 && data[3] == 0xAA) //搜索节点 { EZup_par.node_id = data[0]; EZup_par.step = STEP_JUMP_BOOT; } else if(data[1] == 0x06 && data[2] == 0xF2 && data[3] == 0x55) //确定在boot { EZup_par.node_id = data[0]; EZup_par.step = STEP_EASER_FLASH; } else if(data[0] == EZup_par.node_id && data[1] == 0x06 && data[2] == 0xF4 && //擦FLASH //CRC校验回复一样？ data[3] == 0x00 && data[4] == 0xFF && data[5] == 0xFF && data[6] == 0xFF && data[7] == 0xFF) { if(EZup_par.step == STEP_EASER_FLASH ) { EZup_par.step = STEP_SET_OFFSET_ADR; update_info.step_200_flag = true; } else if(EZup_par.step == STEP_SEND_DATE || EZup_par.step == STEP_WAIT) { EZup_par.adr_offset += 128; update_info.vk_dev_pack_num++; EZup_par.step = STEP_SET_OFFSET_ADR; update_info.step_201_flag = true; } } else if(data[0] == EZup_par.node_id && data[1] == 0x06 && data[2] == 0xF4 && data[3] == 0x00 && (data[4] == 0x04 || data[4] == 0x08) && data[5] == 0x00 && data[6] == 0xFF && data[7] == 0xFF) //设置地址偏移 { EZup_par.step = STEP_SEND_DATE; EZup_par.pack_content = PACK_HEAD; } else if(data[0] == EZup_par.node_id && data[1] == 0x06 && data[2] == 0xF4 && //校验错误 data[3] == 0x07 && data[4] == 0xFF && data[5] == 0xFF && data[6] == 0xFF && data[7] == 0xFF) { EZup_par.step = STEP_SET_OFFSET_ADR; } } uint8_t WordXorCrc(uint8_t *pData, uint32_t len) { uint8_t crc = 0; for (uint32_t i = 0; i < len; i++) { crc ^= pData[i]; } return crc; } /** * @file eft_dev_update_func * @brief efg设备升级 * @param * @details * @author Zhang Sir **/ _eft_update eft_update = {.pack_num = 1}; void eft_dev_update_func(void) { if(uart_send_is_ok(USART_1) == true) { if(eft_update.step_200_flag == true ) { Update_ack_func(eft_update.buf[DEVICE],200,&eft_update.buf[PACK_NUM]); eft_update.step_200_flag = false; } else if(eft_update.step_201_flag == true) { Update_ack_func(eft_update.buf[DEVICE],201,&eft_update.buf[PACK_NUM]); eft_update.step_201_flag = false; } else if(eft_update.step_202_flag == true) { Update_ack_func(eft_update.buf[DEVICE],202,&eft_update.buf[PACK_NUM]); eft_update.step_202_flag = false; } } static uint32_t send_msgtime_5HZ = 0; if(eft_update.update_flag != true) return; if(Check_Timer_Ready(&send_msgtime_5HZ,_20_HZ_) != true) return; uint8_t canN = 0; uint8_t can_buf[8] = {0}; int can_id = 0; if(eft_update.dev_id == GROUP_ID_EFTFB_UPDATE) { canN = CANID1; } else if(eft_update.dev_id == GROUP_ID_EFTPUMP1_UPDATE || eft_update.dev_id == GROUP_ID_EFTPUMP2_UPDATE || eft_update.dev_id == GROUP_ID_EFTNOZZLE1_UPDATE || eft_update.dev_id == GROUP_ID_EFTNOZZLE2_UPDATE || eft_update.dev_id == GROUP_ID_EFTNOZZLE3_UPDATE || eft_update.dev_id == GROUP_ID_EFTNOZZLE4_UPDATE || eft_update.dev_id == GROUP_ID_EFTSEED_UPDATE || eft_update.dev_id == GROUP_ID_Z70FB_UPDATE || GROUP_ID_Z70FBLIFTING_UPDATE) { canN = CANID2; } if(eft_update.dev_id == GROUP_ID_EFTPUMP1_UPDATE) can_id = 0x8811; else if(eft_update.dev_id == GROUP_ID_EFTPUMP2_UPDATE) can_id = 0x8822; else if(eft_update.dev_id == GROUP_ID_EFTNOZZLE1_UPDATE) can_id = 0x8833; else if(eft_update.dev_id == GROUP_ID_EFTNOZZLE2_UPDATE) can_id = 0x8844; else if(eft_update.dev_id == GROUP_ID_EFTNOZZLE3_UPDATE) can_id = 0x8855; else if(eft_update.dev_id == GROUP_ID_EFTNOZZLE4_UPDATE) can_id = 0x8866; else if(eft_update.dev_id == GROUP_ID_EFTFB_UPDATE) can_id = 0x8877; else if(eft_update.dev_id == GROUP_ID_EFTSEED_UPDATE) can_id = 0x8899; else if(eft_update.dev_id == GROUP_ID_Z70FB_UPDATE) can_id = 0x7011; else if(eft_update.dev_id == GROUP_ID_Z70FBLIFTING_UPDATE) can_id = 0x88BB; switch (eft_update.step) { case STEP_START: put_date_to_can(can_buf,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF); //停止广播 Can_Send_Msg_Func(canN, can_buf, 8, 0x88FF, CAN_ID_EXT); put_date_to_can(can_buf,0xEB,0x90,0xEB,0x90,0xEB,0x90,0x10,0x06); Can_Send_Msg_Func(canN,can_buf, 8, can_id, CAN_ID_EXT); memcpy(&can_buf,&eft_update.bin_size,4); memcpy(&can_buf[4],&eft_update.bin_crc,4); Can_Send_Msg_Func(canN,can_buf, 8, can_id, CAN_ID_EXT); if(eft_update.bin_size % 128 > 0) eft_update.totol_packNum = (eft_update.bin_size / 128) + 1; else if(eft_update.bin_size % 128 == 0) eft_update.totol_packNum = eft_update.bin_size / 128; break; case STEP_UPDATING: if(eft_update.pack_num == (eft_update.buf[PACK_NUM] + eft_update.buf[PACK_NUM + 1] * 256) && eft_update.send_pack_complete == false && eft_update.buf[UPDATE_STEP] == 201) { uint8_t i = 0; //首帧 put_date_to_can(can_buf,0xEB,0x90,0xEB,0x90,0xEB,0x90,128+10,0x2B); Can_Send_Msg_Func(canN, can_buf, 8, can_id, CAN_ID_EXT); //第二帧 if(eft_update.pack_num != eft_update.totol_packNum) can_buf[0] = 1; else can_buf[0] = 0; memcpy(&can_buf[1],&eft_update.buf[PAYLOAD + i],7); i += 7; Can_Send_Msg_Func(canN, can_buf, 8, can_id, CAN_ID_EXT); //中间帧 while( i < 127) { memcpy(can_buf,&eft_update.buf[PAYLOAD + i],8); Can_Send_Msg_Func(canN, can_buf, 8, can_id, CAN_ID_EXT); i += 8; } //结束 帧 eft_update.pack_crc = WordXorCrc(&eft_update.buf[PAYLOAD],128); can_buf[0] = eft_update.buf[PAYLOAD + i]; can_buf[1] = eft_update.pack_crc; can_buf[2] = 0xFF; can_buf[3] = 0xFF; can_buf[4] = 0xFF; can_buf[5] = 0xFF; can_buf[6] = 0xFF; can_buf[7] = 0xFF; Can_Send_Msg_Func(canN, can_buf, 8, can_id, CAN_ID_EXT); eft_update.send_pack_complete = true; } break; case STEP_END: put_date_to_can(can_buf,0xEE,0xEE,0xEE,0xEE,0xEE,0xEE,0xEE,0xEE); //开始广播 Can_Send_Msg_Func(canN, can_buf, 8, 0x88FF, CAN_ID_EXT); eft_update.update_flag = false; eft_update.step_202_flag = true; break; case STEP_WAIT_ACK: break; default: break; } } void eft_dev_update_wait_ereseflash(uint8_t data[]) { if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x07) { eft_update.step = STEP_WAIT_ACK; } else if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x17) { eft_update.step_200_flag = true; if(eft_update.step != STEP_UPDATING) { eft_update.step = STEP_UPDATING; eft_update.pack_num++; } } //下一包数据 else if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x0B) { eft_update.pack_num++; eft_update.send_pack_complete = false; eft_update.step_201_flag = true; } //重新发送此包 else if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x09) { eft_update.send_pack_complete = false; } //升级成功 else if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x0C) { eft_update.step = STEP_END; } //重新升级 else if(data[0] == 0xEB && data[1] == 0x90 && data[2] == 0xEB && data[3] == 0x90 && data[4] == 0xEB && data[5] == 0x90 && data[6] == 0x08 && data[7] == 0x0D) { } }