void System_Init(void)
{
INTX_DISABLE(); //close all interruption
HF_BSP_Init();
enter_bootloader_flag=STMFLASH_ReadWord(FLASH_APP1_ADDR - 4);
if(enter_bootloader_flag !=256 ) //jump to app code
{
enter_bootloader_flag=256;
STMFLASH_Write(FLASH_APP1_ADDR - 4 , &enter_bootloader_flag , 1);
HF_Set_Beep_State(1);
delay_ms(500);
delay_ms(500);
HF_Set_Beep_State(0);
enter_bootloader_flag=0;
STMFLASH_Write(FLASH_APP1_ADDR - 4 , &enter_bootloader_flag , 1);
Load_Flash_APP(FLASH_APP1_ADDR);
}
enter_bootloader_flag = 0;
STMFLASH_Write(FLASH_APP1_ADDR - 4 , &enter_bootloader_flag , 1);
HF_Set_Beep_State(1);
delay_ms(500);
delay_ms(500);
delay_ms(500);
delay_ms(500);
HF_Set_Beep_State(0);
INTX_ENABLE(); //enable all interruption
}
//appxaddr:应用程序的起始地址
//appbuf:应用程序CODE.
//appsize:应用程序大小(字节).
void iap_write_appbin(uint32_t appxaddr,uint8_t *appbuf,uint32_t appsize)
{
uint32_t t;
uint16_t i=0,j=0;
uint32_t temp;
uint32_t fwaddr=appxaddr;//当前写入的地址
uint8_t *dfu=binbuf;
uint8_t *dfu2=appbuf;
for(i=0;i<appsize/1024;i++)
{
// printf("111111111111111\r\n");
dfu=binbuf;
utils_string2bin((char *)dfu2,binbuf,1024);
for(t=0;t<128;t++)
{
temp=(uint32_t)dfu[3]<<24;
temp|=(uint32_t)dfu[2]<<16;
temp|=(uint32_t)dfu[1]<<8;
temp|=(uint32_t)dfu[0];
dfu+=4;//偏移4个字节
iapbuf[j++]=temp;
}
STMFLASH_Write(fwaddr,iapbuf,128);
File_CRC=crc32(File_CRC,binbuf,512);
fwaddr+=512;//偏移2048 512*4=2048
dfu2+=1024;
// for(j=0;j<512;j++)
// {
// printf("%d\r\n",binbuf[j]);
// }
j=0;
}
if(appsize%1024>0)
{
dfu=binbuf;
utils_string2bin((char *)dfu2,binbuf,appsize%1024);
for(t=0;t<(appsize%1024/2+3)/4;t++)
{
temp=(uint32_t)dfu[3]<<24;
temp|=(uint32_t)dfu[2]<<16;
temp|=(uint32_t)dfu[1]<<8;
temp|=(uint32_t)dfu[0];
dfu+=4;//偏移4个字节
iapbuf[j++]=temp;
}
STMFLASH_Write(fwaddr,iapbuf,j);
File_CRC=crc32(File_CRC,binbuf,(appsize%1024/2));
// for(j=0;j<appsize%1024/2;j++)
// {
// printf("%d\r\n",binbuf[j]);
// }
}
}
//写入PID值
void PID_WriteFlash(void)
{
u8 point=29;
u16 flash_data[39];
//读出Flash数据
STMFLASH_Read(PAGE1,flash_data,39);
//数据重新写入PID数据！
flash_data[point++] = ADJUST_FLAG;
flash_data[point++] = (u16)(PID_ROL.P*1000);
flash_data[point++] = (u16)(PID_ROL.I*1000);
flash_data[point++] = (u16)(PID_ROL.D*1000);
flash_data[point++] = (u16)(PID_PIT.P*1000);
flash_data[point++] = (u16)(PID_PIT.I*1000);
flash_data[point++] = (u16)(PID_PIT.D*1000);
flash_data[point++] = (u16)(PID_YAW.P*1000);
flash_data[point++] = (u16)(PID_YAW.I*1000);
flash_data[point++] = (u16)(PID_YAW.D*1000);
//写入Flash数据
STMFLASH_Write(PAGE1,flash_data,39);
}
static void save_data_to_flash()
{
pd_printf("saving data to flash...\n");
int32 magic = PANDO_CONFIG_MAGIC;
STMFLASH_Write(PANDO_CONFIG_ADDRESS, (uint16 *)(&magic), sizeof(int32));
struct data_pair * cur;
int32 cnt = 0;
for(cur=head; cur!=NULL; cur=cur->next)
{
STMFLASH_Write(PANDO_CONFIG_ADDRESS + sizeof(int32) + sizeof(int32) + (cnt * sizeof(struct data_pair)),
(uint16 *)cur, sizeof(struct data_pair));
cnt ++;
}
STMFLASH_Write(PANDO_CONFIG_ADDRESS + sizeof(int32),
(uint16 *)&cnt, sizeof(int32));
pd_printf("done...\n");
}
//函数名：ParameterWrite()
//输入：无
//输出：当收到地址29的字节为0xA5时，返回1，否则返回0
//描述：飞机开机后，当检测到写入参数模式时，写参数用
//作者：马骏
//备注：没考上研，心情不好
char ParameterWrite()
{
PIDWriteBuf[0]=16;
PIDWriteBuf[1]=0;
PIDWriteBuf[2]=8;//写PID参数
STMFLASH_Write(STM32_FLASH_BASE+STM32_FLASH_OFFEST+PIDParameterAdd,PIDWriteBuf,3); //PID 参数写入
return 0;
}
void TableWriteEEPROM(void)
{
// uint8_t i=0;
// float *p;
uint8_t paramNums=sizeof(table)/sizeof(float);
// for(i=0;i<sizeof(table);i++)
// {
// p=(float *)(&table) + i;
// STMFLASH_Write(TABLE_ADDRESS,(uint16_t *)p,2);
// }
STMFLASH_Write(TABLE_ADDRESS,(uint16_t *)(&table),paramNums * 2);
}
//函数名：ParameterWrite()
//输入：无
//输出：当收到地址29的字节为0xA5时，返回1，否则返回0
//描述：飞机开机后，当检测到写入参数模式时，写参数用
//作者：马骏
//备注：没考上研，心情不好
char ParameterWrite()
{
// PIDParameter.WriteBuf[0] = 23;
// PIDParameter.WriteBuf[1] = 1;
// PIDParameter.WriteBuf[2] = 4;
//
// BTParameter.WriteBuf[1] = 0;
// BTParameter.WriteBuf[2] = 0;
//STMFLASH_Write(STM32_FLASH_BASE+STM32_FLASH_OFFEST+PIDParameterAdd,PIDParameter.WriteBuf,3); //PID 参数写入Flash
STMFLASH_Write(STM32_FLASH_BASE+STM32_FLASH_OFFEST+BTParameterAdd,BTParameter.WriteBuf,3); //蓝牙配置参数写入Flash
return 0;
}
void BoardConfiguration(void)
{
u8* upBuffer;
if(processedData.fun_m==0x01)
{
upBuffer=GetBoardInformation();
if(processedData.fun_s==0x01&&uploadTime>0)//上传
{
SendData_Check(upBuffer,BOARD_ID_CONFIGURATION_SIZE);
delay_ms(100);
uploadTime--;
}
else if(processedData.fun_s==0x02&&isConfigured==0)
{
STMFLASH_Write(FLASH_SAVE_ADDR,(u16*)receivedData.data,BOARD_ID_CONFIGURATION_SIZE);
isConfigured=1;
}
}
}
//table defalat . if
void TableResetDefault(void)
{
// table.version=1.0f;
STMFLASH_Write(TABLE_ADDRESS,(uint16_t *)(&(table.version)),2);
}
//////////////////////////////////////////////////////////////////////////////////////////////////////
//WriteAddr:起始地址
//WriteData:要写入的数据
void Test_Write(u32 WriteAddr,u16 WriteData)
{
STMFLASH_Write(WriteAddr,&WriteData,1);//写入一个字
}
void Iap_Write(uint32_t addr)
{
uint16_t temp = 0;
uint16_t data_size = 0; //烧录大小
uint32_t data_len = 0; //数据长度
uint16_t index = 0; //数据块索引
uint32_t crc_val = 0;
uint32_t addr_now = addr; //写入地址
uint8_t data_write[DATA_SIZE] = {0}; //数据缓冲
//
while(1)
{
while((buf_cnt & 0x8000) == 0) //等待数据接收完毕
{
LcdDispValue(1,280,10,"%ds ",60-Watch_Cnt/2);
if(Watch_Cnt>WatchTime) //--WatchTime没有接收到数据转入备用程序
{
TIM_ITConfig(TIM4,TIM_IT_Update,DISABLE );
LcdDispValue(1,X_Height,Y_Height+120,"Jump into application...");
Delay_ms(500);
TIM_ITConfig(TIM3,TIM_IT_Update,DISABLE );
printf("#F7C|HEARTON*");
Delay_ms(50);
printf("#SPAREAPP*\r\n");
Delay_ms(50);
Iap_load(APP_ADDR2); //启用备份区程序
}
}
Watch_Cnt = 0; //--喂模拟窗口狗
//解析数据
data_len = (uint32_t)usart_buf[1] << 8 | usart_buf[0]; //获取data有效长度
if(data_len > 1024) //--
data_len = 1024;
for(temp = 2; temp < data_len + 2; temp++) //从第二位开始拷贝数据
{
data_write[temp - 2] = usart_buf[temp];
}
index = usart_buf[DATA_SIZE + 3] << 8 | usart_buf[DATA_SIZE + 2]; //获取地址索引
crc_val = usart_buf[DATA_SIZE + 7] << 24 | usart_buf[DATA_SIZE + 6] << 16 | //获取CRC值
usart_buf[DATA_SIZE + 5] << 8 | usart_buf[DATA_SIZE + 4] ;
addr_now = addr + 1024 * index; //准备写入地址
//使用 USART_BUF_SIZE / 4 无法得到长度
temp = USART_BUF_SIZE ;
temp /= 4;
if(!CRC_GetVal((uint32_t *)usart_buf, temp, crc_val))
{
printf("Again\n");
buf_cnt = 0;
continue;
}
//开始写数据
if(data_len < 1024) //写入剩下的数据
{
if(data_len % 2 != 0) // 可能需要除4待定
{
data_len += 1;
}
STMFLASH_Write(addr_now, (uint32_t *)data_write, data_len / 4);//(uint16_t 2
data_size += 1;
STMFLASH_Write(IAP_INFO, &data_len, 1);
printf("OK\n");
break;
}
else
{
STMFLASH_Write(addr_now, (uint32_t*)data_write, data_len / 4);//(uint16_t
data_size += 1;
buf_cnt = 0;
for(temp = 0; temp < USART_BUF_SIZE; temp++)usart_buf[temp] = 0;
LcdDispValue(1,X_Height,Y_Height+80,"Upgrading...");
printf("Next\n");
}
} //烧录完成
//清空串口缓存
buf_cnt = 0;
for(temp = 0; temp < USART_BUF_SIZE; temp++)usart_buf[temp] = 0;
}
void TableWriteEEPROM(void)
{
uint8_t paramNums=sizeof(table)/sizeof(float);
STMFLASH_Write(TABLE_ADDRESS,(uint16_t *)(&table),paramNums * 2);
}
//设置22个舵机初始位置
void steering_set_init(void) {
steering_data.mark=STEERING_INIT_MARK;//标志以设置初始位置
steering_get(steering_data.init);
STMFLASH_Write(STEERING_DATA_ADDR, (u16*)(&steering_data), sizeof(struct steering_type));
}