static void handle_nores_packet(unsigned char *data, unsigned char len) {
COMM_NORES_PACKET_ID car_nores_packet;
(void)len;
car_nores_packet = data[0];
data++;
len--;
switch (car_nores_packet) {
case COMM_FULL_BRAKE:
mcpwm_brake_now();
break;
case COMM_SERVO_OFFSET:
servos[0].offset = data[0];
break;
case COMM_CAN_TEST:
break;
case COMM_TERMINAL_CMD:
data[len] = '\0';
terminal_process_string((char*)data);
break;
case COMM_RELEASE:
mcpwm_release_motor();
break;
default:
break;
}
}
uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
new_app_size += flash_addr[NEW_APP_BASE];
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
for (int i = 0;i < NEW_APP_SECTORS;i++) {
if (new_app_size > flash_addr[NEW_APP_BASE + i]) {
uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE + i], VoltageRange_3);
if (res != FLASH_COMPLETE) {
return res;
}
} else {
break;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
/**
* Stop the system and jump to the bootloader.
*/
void flash_helper_jump_to_bootloader(void) {
typedef void (*pFunction)(void);
mcpwm_unlock();
mcpwm_release_motor();
usbDisconnectBus(&USBD1);
usbStop(&USBD1);
uartStop(&HW_UART_DEV);
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
// Disable watchdog
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
chSysDisable();
pFunction jump_to_bootloader;
// Variable that will be loaded with the start address of the application
vu32* jump_address;
const vu32* bootloader_address = (vu32*)0x080E0000;
// Get jump address from application vector table
jump_address = (vu32*) bootloader_address[1];
// Load this address into function pointer
jump_to_bootloader = (pFunction) jump_address;
// Clear pending interrupts
SCB_ICSR = ICSR_PENDSVCLR;
// Disable all interrupts
for(int i = 0;i < 8;i++) {
NVIC->ICER[i] = NVIC->IABR[i];
}
// Set stack pointer
__set_MSP((u32) (bootloader_address[0]));
// Jump to the bootloader
jump_to_bootloader();
}
uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
for (uint32_t i = 0;i < len;i++) {
uint16_t res = FLASH_ProgramByte(flash_addr[NEW_APP_BASE] + offset + i, data[i]);
if (res != FLASH_COMPLETE) {
return res;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
