Implement reboot to new image

WIP CAN flashing support
Add persist RAM area for passing data across resets; implement booting from a partition specified in the persist RAM area
2022-08-12 17:10:57 +02:00 · 2022-08-12 17:10:57 +02:00 · 2022-08-12 17:10:06 +02:00 · 2022-04-28 21:08:02 +02:00 · 2022-04-28 21:08:02 +02:00 · 2022-04-28 21:08:02 +02:00
19 changed files with 648 additions and 382 deletions
--- a/.github/workflows/workflow.yml
+++ b/.github/workflows/workflow.yml
@ -15,7 +15,7 @@ jobs:
    strategy:
      fail-fast: false
      matrix:
-        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash, pcbv2_front, pcbv2_back, pcbv2_test, commander_v2_front, commander_v2_back]
+        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash]
    steps:
      - uses: actions/checkout@v2
        with:
@ -28,6 +28,16 @@ jobs:
          
      - name: Build
        id: build
+        continue-on-error: true
        run: |
          cmake -DCMAKE_BUILD_TYPE=Release .
          make -j$(nproc) ${{ matrix.config }}
+
+    # github artifacts
+      - name: Upload logs if failed
+        if: ${{ steps.build.outcome == 'failure' }}
+        uses: actions/upload-artifact@v2.2.4
+        with:
+          path: |
+            ./CMakeFiles/CMakeOutput.log
+            ./CMakeFiles/CMakeError.log
--- a/.gitignore
+++ b/.gitignore
@ -3,20 +3,3 @@ CMakeCache.txt
 CMakeFiles
 Makefile
 cmake_install.cmake
-
-build/
-
-# VS Code
-.vscode/
-.cache/
-
-# Jetbrains
-.idea/
-cmake-build-*/
-
-# other
-hover.map
-libemanuel_foc_model.a
-libstm32_hal.a
-/*.bin
-/*elf
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -11,14 +11,21 @@ SET(CMAKE_SYSTEM_NAME Generic)
 set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
 set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
 set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
-set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
+set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")

 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 20)

-set(COMMON_LINKER_FLAGS "-specs=nosys.specs -T${CMAKE_SOURCE_DIR}/STM32F103RCTx_FLASH.ld -lc -lm -lnosys -lstdc++ -Wl,--gc-sections -Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref")
-set(CMAKE_EXE_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
-set(CMAKE_SHARED_LINKER_FLAGS "${COMMON_LINKER_FLAGS}")
+set(A_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/app_a.ld")
+set(B_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/app_b.ld")
+set(AB_BOOT_FIRMWARE_LINKER_FLAGS "-T${CMAKE_SOURCE_DIR}/ld/ab_boot.ld")
+set(COMMON_LINKER_FLAGS -specs=nosys.specs -lc -lm -lnosys -lstdc++ -Wl,--gc-sections "-Wl,-Map=${CMAKE_BINARY_DIR}/hover.map,--cref"
+                        -T${CMAKE_SOURCE_DIR}/ld/STM32F103RCTx_FLASH.ld)
+
+set(A_FIRMWARE_APP_BASE 0x08002000)
+set(B_FIRMWARE_APP_BASE 0x08020800)
+
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)

 project(bobbycar-controller-firmware ASM C CXX)

@ -31,7 +38,6 @@ include_directories(
    STM32CubeF1/Drivers/CMSIS/Device/ST/STM32F1xx/Include
    STM32CubeF1/Drivers/CMSIS/Include
    bobbycar-foc-model
-    bobbycar-protocol
 )

 add_library(stm32_hal STATIC
@ -52,7 +58,6 @@ add_library(stm32_hal STATIC
    STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c
    STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_can.c
    startup_stm32f103xe.s
-    system_stm32f1xx.c
 )

 add_library(emanuel_foc_model STATIC
@ -62,16 +67,23 @@ add_library(emanuel_foc_model STATIC
    bobbycar-foc-model/rtwtypes.h
 )

-add_library(bobbycar-protocol INTERFACE
+add_library(bobbycar-protocol INTERFACE)
+target_include_directories(bobbycar-protocol INTERFACE bobbycar-protocol)
+
+
+set(COMMON_SOURCES
+    config.h
+    defines.h
+    main.cpp
+    system_stm32f1xx.c
+    persist/persist.c
 )

-
-
-
 #
 # motor test
 #
-add_executable(motortest.elf config.h defines.h main.cpp)
+add_executable(motortest.elf ${COMMON_SOURCES})
+target_link_options(motortest.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
 target_link_libraries(motortest.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(motortest.elf PRIVATE
    -DMOTOR_TEST
@ -92,12 +104,13 @@ target_compile_options(motortest.elf PRIVATE
 add_custom_command(OUTPUT motortest.hex COMMAND arm-none-eabi-objcopy -O ihex motortest.elf motortest.hex DEPENDS motortest.elf)
 add_custom_command(OUTPUT motortest.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest.elf motortest.bin DEPENDS motortest.elf)
 add_custom_target(motortest ALL SOURCES motortest.hex motortest.bin)
-add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin 0x8000000 SOURCES motortest.bin DEPENDS motortest.bin)
+add_custom_target(flash-motortest COMMAND st-flash --reset write motortest.bin ${A_FIRMWARE_APP_BASE} SOURCES motortest.bin DEPENDS motortest.bin)

 #
 # motor test peter
 #
-add_executable(motortest_peter.elf config.h defines.h main.cpp)
+add_executable(motortest_peter.elf ${COMMON_SOURCES})
+target_link_options(motortest_peter.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
 target_link_libraries(motortest_peter.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(motortest_peter.elf PRIVATE
    #-DMOTOR_TEST
@ -119,13 +132,14 @@ target_compile_options(motortest_peter.elf PRIVATE
 add_custom_command(OUTPUT motortest_peter.hex COMMAND arm-none-eabi-objcopy -O ihex motortest_peter.elf motortest_peter.hex DEPENDS motortest_peter.elf)
 add_custom_command(OUTPUT motortest_peter.bin COMMAND arm-none-eabi-objcopy -O binary -S motortest_peter.elf motortest_peter.bin DEPENDS motortest_peter.elf)
 add_custom_target(motortest_peter ALL SOURCES motortest_peter.hex motortest_peter.bin)
-add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin 0x8000000 SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)
+add_custom_target(flash-motortest_peter COMMAND st-flash --reset write motortest_peter.bin ${A_FIRMWARE_APP_BASE} SOURCES motortest_peter.bin DEPENDS motortest_peter.bin)


 #
 # feedc0de front
 #
-add_executable(feedcode-front.elf config.h defines.h main.cpp)
+add_executable(feedcode-front.elf ${COMMON_SOURCES})
+target_link_options(feedcode-front.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
 target_link_libraries(feedcode-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(feedcode-front.elf PRIVATE
 #    -DMOTOR_TEST
@ -146,12 +160,13 @@ target_compile_options(feedcode-front.elf PRIVATE
 add_custom_command(OUTPUT feedcode-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-front.elf feedcode-front.hex DEPENDS feedcode-front.elf)
 add_custom_command(OUTPUT feedcode-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-front.elf feedcode-front.bin DEPENDS feedcode-front.elf)
 add_custom_target(feedcode-front ALL SOURCES feedcode-front.hex feedcode-front.bin)
-add_custom_target(flash-feedcode-front COMMAND st-flash --reset write feedcode-front.bin 0x8000000 SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)
+add_custom_target(flash-feedcode-front COMMAND st-flash --reset write feedcode-front.bin ${A_FIRMWARE_APP_BASE} SOURCES feedcode-front.bin DEPENDS feedcode-front.bin)

 #
 # feedc0de back
 #
-add_executable(feedcode-back.elf config.h defines.h main.cpp)
+add_executable(feedcode-back.elf ${COMMON_SOURCES})
+target_link_options(feedcode-back.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
 target_link_libraries(feedcode-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(feedcode-back.elf PRIVATE
 #    -DMOTOR_TEST
@ -172,67 +187,13 @@ target_compile_options(feedcode-back.elf PRIVATE
 add_custom_command(OUTPUT feedcode-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode-back.elf feedcode-back.hex DEPENDS feedcode-back.elf)
 add_custom_command(OUTPUT feedcode-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode-back.elf feedcode-back.bin DEPENDS feedcode-back.elf)
 add_custom_target(feedcode-back ALL SOURCES feedcode-back.hex feedcode-back.bin)
-add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin 0x8000000 SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
-
-
-#
-# feedc0de 2 front
-#
-add_executable(feedcode2-front.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-front.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ABC
-    -DRIGHT_HALL_ABC
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-front.elf feedcode2-front.hex DEPENDS feedcode2-front.elf)
-add_custom_command(OUTPUT feedcode2-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-front.elf feedcode2-front.bin DEPENDS feedcode2-front.elf)
-add_custom_target(feedcode2-front ALL SOURCES feedcode2-front.hex feedcode2-front.bin)
-add_custom_target(flash-feedcode2-front COMMAND st-flash --reset write feedcode2-front.bin 0x8000000 SOURCES feedcode2-front.bin DEPENDS feedcode2-front.bin)
-
-#
-# feedc0de 2 back
-#
-add_executable(feedcode2-back.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-back.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ACB
-    -DRIGHT_HALL_ACB
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-back.elf feedcode2-back.hex DEPENDS feedcode2-back.elf)
-add_custom_command(OUTPUT feedcode2-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-back.elf feedcode2-back.bin DEPENDS feedcode2-back.elf)
-add_custom_target(feedcode2-back ALL SOURCES feedcode2-back.hex feedcode2-back.bin)
-add_custom_target(flash-feedcode2-back COMMAND st-flash --reset write feedcode2-back.bin 0x8000000 SOURCES feedcode2-back.bin DEPENDS feedcode2-back.bin)
+add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin ${A_FIRMWARE_APP_BASE} SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)

 #
 # greyhash
 #
-add_executable(greyhash.elf config.h defines.h main.cpp)
+add_executable(greyhash.elf ${COMMON_SOURCES})
+target_link_options(greyhash.elf PRIVATE ${COMMON_LINKER_FLAGS} ${A_FIRMWARE_LINKER_FLAGS})
 target_link_libraries(greyhash.elf stm32_hal emanuel_foc_model bobbycar-protocol)
 target_compile_options(greyhash.elf PRIVATE
 #    -DMOTOR_TEST
@ -253,210 +214,21 @@ target_compile_options(greyhash.elf PRIVATE
 add_custom_command(OUTPUT greyhash.hex COMMAND arm-none-eabi-objcopy -O ihex greyhash.elf greyhash.hex DEPENDS greyhash.elf)
 add_custom_command(OUTPUT greyhash.bin COMMAND arm-none-eabi-objcopy -O binary -S greyhash.elf greyhash.bin DEPENDS greyhash.elf)
 add_custom_target(greyhash ALL SOURCES greyhash.hex greyhash.bin)
-add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin 0x8000000 SOURCES greyhash.bin DEPENDS greyhash.bin)
+add_custom_target(flash-greyhash COMMAND st-flash --reset write greyhash.bin ${A_FIRMWARE_APP_BASE} SOURCES greyhash.bin DEPENDS greyhash.bin)

-#
-# peters platine v2 front
-#
-add_executable(pcbv2_front.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_front.elf PRIVATE
-        #    -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #     -DIS_BACK
-        -DAMPERE2BIT_CONV=28
+
+add_executable(ab_boot.elf
+    ab_boot/ab_boot.c
+    system_stm32f1xx.c
+    persist/persist.c
 )
-add_custom_command(OUTPUT pcbv2_front.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_front.elf pcbv2_front.hex DEPENDS pcbv2_front.elf)
-add_custom_command(OUTPUT pcbv2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_front.elf pcbv2_front.bin DEPENDS pcbv2_front.elf)
-add_custom_target(pcbv2_front ALL SOURCES pcbv2_front.hex pcbv2_front.bin)
-add_custom_target(flash-pcbv2_front COMMAND st-flash --reset write pcbv2_front.bin 0x8000000 SOURCES pcbv2_front.bin DEPENDS pcbv2_front.bin)
-
-#
-# peters platine v2 back
-#
-add_executable(pcbv2_back.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_back.elf PRIVATE
-        #    -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        -DIS_BACK
-        -DAMPERE2BIT_CONV=28
-)
-add_custom_command(OUTPUT pcbv2_back.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_back.elf pcbv2_back.hex DEPENDS pcbv2_back.elf)
-add_custom_command(OUTPUT pcbv2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_back.elf pcbv2_back.bin DEPENDS pcbv2_back.elf)
-add_custom_target(pcbv2_back ALL SOURCES pcbv2_back.hex pcbv2_back.bin)
-add_custom_target(flash-pcbv2_back COMMAND st-flash --reset write pcbv2_back.bin 0x8000000 SOURCES pcbv2_back.bin DEPENDS pcbv2_back.bin)
-
-#
-# peters platine v2 motortest
-#
-add_executable(pcbv2_test.elf config.h defines.h main.cpp)
-target_link_libraries(pcbv2_test.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(pcbv2_test.elf PRIVATE
-        -DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        #    -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #    -DIS_BACK
-        -DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT pcbv2_test.hex COMMAND arm-none-eabi-objcopy -O ihex pcbv2_test.elf pcbv2_test.hex DEPENDS pcbv2_test.elf)
-add_custom_command(OUTPUT pcbv2_test.bin COMMAND arm-none-eabi-objcopy -O binary -S pcbv2_test.elf pcbv2_test.bin DEPENDS pcbv2_test.elf)
-add_custom_target(pcbv2_test ALL SOURCES pcbv2_test.hex pcbv2_test.bin)
-add_custom_target(flash-pcbv2_test COMMAND st-flash --reset write pcbv2_test.bin 0x8000000 SOURCES pcbv2_test.bin DEPENDS pcbv2_test.bin)
-
-
-#
-# commander v2 front
-#
-add_executable(commander_v2_front.elf config.h defines.h main.cpp)
-target_link_libraries(commander_v2_front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(commander_v2_front.elf PRIVATE
-        #-DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        #    -DIS_BACK
-        #-DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT commander_v2_front.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_front.elf commander_v2_front.hex DEPENDS commander_v2_front.elf)
-add_custom_command(OUTPUT commander_v2_front.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_front.elf commander_v2_front.bin DEPENDS commander_v2_front.elf)
-add_custom_target(commander_v2_front ALL SOURCES commander_v2_front.hex commander_v2_front.bin)
-add_custom_target(flash-commander_v2_front COMMAND st-flash --reset write commander_v2_front.bin 0x8000000 SOURCES commander_v2_front.bin DEPENDS commander_v2_front.bin)
-
-
-#
-# commander v2 back
-#
-add_executable(commander_v2_back.elf config.h defines.h main.cpp)
-target_link_libraries(commander_v2_back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(commander_v2_back.elf PRIVATE
-        #-DMOTOR_TEST
-        -DFEATURE_IGNORE_OTHER_MOTOR
-        #    -DHALL_BCA
-        #    -DPWM_FREQ_12KHZ
-        #    -DFEATURE_BUTTON
-        -DPETERS_PLATINE
-        #    -DHUART2
-        #    -DHUART3
-        #    -DFEATURE_SERIAL_CONTROL
-        #    -DFEATURE_SERIAL_FEEDBACK
-        #    -DLOG_TO_SERIAL
-        -DFEATURE_CAN
-        #    -DCAN_LOG_UNKNOWN_ADDR
-        -DIS_BACK
-        #-DAMPERE2BIT_CONV=28
-        -DLEFT_HALL_ABC
-        #-DLEFT_HALL_ACB
-        #-DLEFT_HALL_BAC
-        #-DLEFT_HALL_BCA
-        #-DLEFT_HALL_CAB
-        #-DLEFT_HALL_CBA
-
-        -DRIGHT_HALL_ABC
-        #-DRIGHT_HALL_ACB
-        #-DRIGHT_HALL_BAC
-        #-DRIGHT_HALL_BCA
-        #-DRIGHT_HALL_CAB
-        #-DRIGHT_HALL_CBA
-
-        #-DFEATURE_BETTER_FOC_CONFIG
-        #-DLEFT_PHASE_MEAS_AB
-        #-DLEFT_PHASE_MEAS_AC
-        #-DLEFT_PHASE_MEAS_BC
-
-        #-DRIGHT_PHASE_MEAS_AB
-        #-DRIGHT_PHASE_MEAS_AC
-        #-DRIGHT_PHASE_MEAS_BC
-)
-add_custom_command(OUTPUT commander_v2_back.hex COMMAND arm-none-eabi-objcopy -O ihex commander_v2_back.elf commander_v2_back.hex DEPENDS commander_v2_back.elf)
-add_custom_command(OUTPUT commander_v2_back.bin COMMAND arm-none-eabi-objcopy -O binary -S commander_v2_back.elf commander_v2_back.bin DEPENDS commander_v2_back.elf)
-add_custom_target(commander_v2_back ALL SOURCES commander_v2_back.hex commander_v2_back.bin)
-add_custom_target(flash-commander_v2_back COMMAND st-flash --reset write commander_v2_back.bin 0x8000000 SOURCES commander_v2_back.bin DEPENDS commander_v2_back.bin)
+target_link_options(ab_boot.elf PRIVATE ${COMMON_LINKER_FLAGS} ${AB_BOOT_FIRMWARE_LINKER_FLAGS})
+target_link_libraries(ab_boot.elf stm32_hal)
+target_compile_options(ab_boot.elf PRIVATE )
+add_custom_command(OUTPUT ab_boot.hex COMMAND arm-none-eabi-objcopy -O ihex ab_boot.elf ab_boot.hex DEPENDS ab_boot.elf)
+add_custom_command(OUTPUT ab_boot.bin COMMAND arm-none-eabi-objcopy -O binary -S ab_boot.elf ab_boot.bin DEPENDS ab_boot.elf)
+add_custom_target(ab_boot ALL SOURCES ab_boot.hex ab_boot.bin)
+add_custom_target(flash-boot COMMAND st-flash --reset write ab_boot.bin 0x08000000 SOURCES ab_boot.bin DEPENDS ab_boot.bin)


 # util targets
--- a/ab_boot/ab_boot.c
+++ b/ab_boot/ab_boot.c
@ -0,0 +1,51 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "stm32f1xx_hal.h"
+#include "ab_boot.h"
+#include "persist/persist.h"
+
+static inline void __attribute__((noreturn)) boot_image(uint32_t sp, uint32_t entry) {
+    asm volatile(
+        "   mov sp, %0    \n"
+        "   blx  %1       \n"
+        "1: b   1b        \n"
+        :
+        : "r" (sp), "r" (entry)
+    );
+    __builtin_unreachable();
+}
+
+static bool is_valid_boot_address(uint32_t *bootp)
+{
+    return (uint32_t)bootp >= FLASH_START &&
+        (uint32_t)bootp < FLASH_END &&
+        ((uint32_t)bootp & 3) == 0;
+}
+
+int main()
+{
+    struct ab_boot_config *flash_config = (struct ab_boot_config *)CONFIG_START;
+    struct ab_boot_config *config = NULL;
+    if (is_persist_valid() &&
+        is_valid_boot_address(persist.ab_boot_config.boot_partition))
+    {
+        // Invalidate persist
+        persist.checksum = 0;
+        config = &persist.ab_boot_config;
+    }
+    else if (is_valid_boot_address(flash_config->boot_partition))
+    {
+        config = flash_config;
+    }
+
+    uint32_t *bootp;
+    if (config)
+        bootp = config->boot_partition;
+    else
+        bootp = (uint32_t *)APP_A_START;
+
+    uint32_t sp = bootp[0];
+    uint32_t entry = bootp[1];
+    boot_image(sp, entry);
+}
--- a/ab_boot/ab_boot.h
+++ b/ab_boot/ab_boot.h
@ -0,0 +1,21 @@
+#pragma once
+
+#include <stdint.h>
+
+#define FLASH_START  0x08000000
+#define AB_BOOT_SIZE 0x00002000
+
+#define APP_A_START  0x08002000
+#define APP_B_START  0x08020800
+                     // 122 KiB
+#define APP_SIZE        0x1e800
+
+#define CONFIG_START 0x0803f800
+#define CONFIG_SIZE       0x800
+
+#define FLASH_END    0x08040000
+
+struct ab_boot_config
+{
+    uint32_t *boot_partition;
+};
--- a/2
+++ b/2
--- a/config.h
+++ b/config.h
@ -6,10 +6,7 @@
 #define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
 #define DEAD_TIME              48     // PWM deadtime
-
-#ifndef AMPERE2BIT_CONV
-#define AMPERE2BIT_CONV        50     // Ampere to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
-#endif
+#define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc

 // ADC conversion time definitions
 #define ADC_CONV_TIME_1C5       (14)  //Total ADC clock cycles / conversion = (  1.5+12.5)
--- a/config_partition.h
+++ b/config_partition.h
@ -0,0 +1,5 @@
+#include "ab_boot/ab_boot.h"
+
+struct config_partition {
+    struct ab_boot_config ab_boot_config;
+};
--- a/defines.h
+++ b/defines.h
@ -24,63 +24,57 @@

 #ifdef PETERS_PLATINE

-#ifdef LEFT_HALL_CAB
+#ifdef HALL_CAB
    #define LEFT_HALL_U_PIN GPIO_PIN_11
    #define LEFT_HALL_V_PIN GPIO_PIN_12
    #define LEFT_HALL_W_PIN GPIO_PIN_10
-#elif LEFT_HALL_CBA
+#elif HALL_CBA
    #define LEFT_HALL_U_PIN GPIO_PIN_11
    #define LEFT_HALL_V_PIN GPIO_PIN_10
    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif LEFT_HALL_BAC
+#elif HALL_BAC
    #define LEFT_HALL_U_PIN GPIO_PIN_10
    #define LEFT_HALL_V_PIN GPIO_PIN_12
    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#elif LEFT_HALL_BCA
+#elif HALL_BCA
    #define LEFT_HALL_U_PIN GPIO_PIN_10
    #define LEFT_HALL_V_PIN GPIO_PIN_11
    #define LEFT_HALL_W_PIN GPIO_PIN_12
-#elif LEFT_HALL_ABC
+#elif HALL_ABC
    #define LEFT_HALL_U_PIN GPIO_PIN_12
    #define LEFT_HALL_V_PIN GPIO_PIN_10
    #define LEFT_HALL_W_PIN GPIO_PIN_11
-#else //LEFT_HALL_ACB
-#ifndef LEFT_HALL_ACB
-    #warning "No left Hall configuration defined, using default ACB"
-#endif
+#else //HALL_ACB
    #define LEFT_HALL_U_PIN GPIO_PIN_12
    #define LEFT_HALL_V_PIN GPIO_PIN_11
    #define LEFT_HALL_W_PIN GPIO_PIN_10
 #endif

-#define LEFT_HALL_U_PORT GPIOC
-#define LEFT_HALL_V_PORT GPIOC
-#define LEFT_HALL_W_PORT GPIOC
+    #define LEFT_HALL_U_PORT GPIOC
+    #define LEFT_HALL_V_PORT GPIOC
+    #define LEFT_HALL_W_PORT GPIOC

-#ifdef RIGHT_HALL_CAB
+#ifdef HALL_CAB
    #define RIGHT_HALL_U_PIN GPIO_PIN_6
    #define RIGHT_HALL_V_PIN GPIO_PIN_5
    #define RIGHT_HALL_W_PIN GPIO_PIN_7
-#elif RIGHT_HALL_CBA
+#elif HALL_CBA
    #define RIGHT_HALL_U_PIN GPIO_PIN_6
    #define RIGHT_HALL_V_PIN GPIO_PIN_7
    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif RIGHT_HALL_BAC
+#elif HALL_BAC
    #define RIGHT_HALL_U_PIN GPIO_PIN_7
    #define RIGHT_HALL_V_PIN GPIO_PIN_5
    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#elif RIGHT_HALL_BCA
+#elif HALL_BCA
    #define RIGHT_HALL_U_PIN GPIO_PIN_7
    #define RIGHT_HALL_V_PIN GPIO_PIN_6
    #define RIGHT_HALL_W_PIN GPIO_PIN_5
-#elif RIGHT_HALL_ABC
+#elif HALL_ABC
    #define RIGHT_HALL_U_PIN GPIO_PIN_5
    #define RIGHT_HALL_V_PIN GPIO_PIN_7
    #define RIGHT_HALL_W_PIN GPIO_PIN_6
-#else //RIGHT_HALL_ACB
-#ifndef RIGHT_HALL_ACB
-    #warning "No right Hall configuration defined, using default ACB"
-#endif
+#else //HALL_ACB
    #define RIGHT_HALL_U_PIN GPIO_PIN_5
    #define RIGHT_HALL_V_PIN GPIO_PIN_6
    #define RIGHT_HALL_W_PIN GPIO_PIN_7
@ -89,7 +83,7 @@
    #define RIGHT_HALL_U_PORT GPIOB
    #define RIGHT_HALL_V_PORT GPIOB
    #define RIGHT_HALL_W_PORT GPIOB
-#else // defined(PETERS_PLATINE)
+#else
 #ifdef HALL_BCA
    #define LEFT_HALL_U_PIN GPIO_PIN_7
    #define LEFT_HALL_V_PIN GPIO_PIN_6
--- a/flasher/CANFlasher.hpp
+++ b/flasher/CANFlasher.hpp
@ -0,0 +1,96 @@
+#include <cstddef>
+#include <cstdint>
+
+#include "Flasher.hpp"
+
+namespace can_flasher {
+    namespace {
+        flasher::Result handle_start(uint8_t *data, size_t length) {
+            uintptr_t address;
+            if (length != sizeof(address))
+                return flasher::Result::InvalidParameter;
+
+            memcpy(&address, data, sizeof(address));
+            return flasher::start(address);
+        }
+
+        flasher::Result handle_write(uint8_t *data, size_t length) {
+            return flasher::write(data, length);
+        }
+    }
+
+    void handle(uint8_t *data, size_t length) {
+        using enum flasher::State;
+
+        if (length < 1) {
+            flasher::flasher_state_callback(flasher::get_state(), flasher::Result::InvalidParameter, 0);
+            return;
+        }
+
+        flasher::State target_state = (flasher::State)*data;
+        data += 1;
+        length -= 1;
+
+        flasher::Result result;
+        switch (target_state) {
+        case Idle:
+            flasher::init();
+            result = flasher::Result::Success;
+            break;
+        case Erasing:
+            result = handle_start(data, length);
+            break;
+        case Writing:
+            result = handle_write(data, length);
+            break;
+        default:
+            result = flasher::Result::InvalidParameter;
+        }
+
+        flasher::flasher_state_callback(flasher::get_state(), result, 0);
+    }
+
+    constexpr size_t FeedbackSize =
+        sizeof(flasher::State) + sizeof(flasher::Result) + sizeof(uint32_t);
+    static_assert(FeedbackSize <= 8);
+
+    struct {
+        uint32_t last_sent;
+        std::atomic<bool> updated;
+        bool valid;
+        uint8_t data[FeedbackSize];
+    } feedback;
+
+    void generate_feedback(flasher::State state, flasher::Result result, uint32_t arg) {
+        uint8_t *ptr = feedback.data;
+        std::memcpy(ptr, &state, sizeof(state));
+        ptr += sizeof(state);
+        std::memcpy(ptr, &result, sizeof(result));
+        ptr += sizeof(result);
+        std::memcpy(ptr, &arg, sizeof(arg));
+        // this works because poll_feedback can't interrupt us
+        feedback.updated.store(true);
+    }
+
+    bool poll_feedback(uint32_t now, uint8_t *out) {
+        if (feedback.updated.load() ||
+            (feedback.valid && now - feedback.last_sent >= 500)) {
+            feedback.valid = true;
+            do {
+                feedback.updated.store(false);
+                std::memcpy(out, feedback.data, sizeof(feedback.data));
+                // this works because we cannot interrupt generate_feedback
+            } while (feedback.updated.load());
+            feedback.last_sent = now;
+            return true;
+        }
+
+        return false;
+    }
+}
+
+namespace flasher {
+void flasher_state_callback(flasher::State state, flasher::Result result, uint32_t arg) {
+    can_flasher::generate_feedback(state, result, arg);
+}
+}
--- a/flasher/Flasher.hpp
+++ b/flasher/Flasher.hpp
@ -0,0 +1,203 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+
+#include "stm32f1xx_hal.h"
+
+#include "ab_boot/ab_boot.h"
+#include "stm32f1xx_hal_def.h"
+#include "stm32f1xx_hal_flash.h"
+#include "stm32f1xx_hal_flash_ex.h"
+
+
+namespace flasher {
+    enum class State : uint8_t {
+        Idle,
+        Erasing,
+        Waiting,
+        Writing,
+        Error
+    };
+
+    namespace {
+        enum class FlashRegion {
+            Invalid,
+            Bootloader,
+            AppA,
+            AppB,
+            Config
+        };
+
+        FlashRegion region_for_address(uintptr_t address) {
+            using enum FlashRegion;
+
+            if (address >= FLASH_START && address < APP_A_START) {
+                return Bootloader;
+            } else if (address >= APP_A_START && address < (APP_A_START + APP_SIZE)) {
+                return AppA;
+            } else if (address >= APP_B_START && address < (APP_B_START + APP_SIZE)) {
+                return AppB;
+            } else if (address >= CONFIG_START && address < (CONFIG_START + CONFIG_SIZE)) {
+                return Config;
+            }
+
+            return Invalid;
+        }
+
+        size_t region_size(FlashRegion region) {
+            using enum FlashRegion;
+
+            switch (region) {
+            case Bootloader:
+                return AB_BOOT_SIZE;
+            case AppA:
+            case AppB:
+                return APP_SIZE;
+            case Config:
+                return CONFIG_SIZE;
+            default:
+                return 0;
+            }
+        }
+
+        bool is_valid_start_address(uint32_t address) {
+            return address == FLASH_START || address == APP_A_START ||
+                   address == APP_B_START || address == CONFIG_START;
+        }
+
+        static State state_;
+        static FlashRegion region_;
+        static uintptr_t address_;
+        static uint8_t write_size_;
+    }
+
+    enum class Result : uint8_t {
+        Success,
+        RegionNotAllowed,
+        InvalidParameter,
+        InvalidState,
+        WriteError,
+        InProgress
+    };
+
+    void flasher_state_callback(State state, Result result, uint32_t arg);
+
+    void init() {
+        state_ = State::Idle;
+        region_ = FlashRegion::Invalid;
+        address_ = 0;
+        write_size_ = 0;
+        HAL_FLASH_Lock();
+    }
+
+    Result start(uintptr_t address) {
+        if (state_ != State::Idle)
+            return Result::InvalidState;
+
+        if (!is_valid_start_address(address)) {
+            return Result::InvalidParameter;
+        }
+
+        FlashRegion flashed_region = region_for_address(address);
+        FlashRegion running_region = region_for_address((uintptr_t)&start);
+
+        if (flashed_region == FlashRegion::Invalid) {
+            return Result::InvalidParameter;
+        }
+
+        if (flashed_region == running_region) {
+            // prohibit flashing the currently running app
+            return Result::RegionNotAllowed;
+        }
+
+        size_t size = region_size(flashed_region);
+        FLASH_EraseInitTypeDef ferase = {
+            .TypeErase = FLASH_TYPEERASE_PAGES,
+            .PageAddress = address,
+            .NbPages = size / FLASH_PAGE_SIZE
+        };
+
+        HAL_FLASH_Unlock();
+        if (HAL_FLASHEx_Erase_IT(&ferase) != HAL_OK) {
+            return Result::WriteError;
+        }
+
+        state_ = State::Erasing;
+        region_ = flashed_region;
+        address_ = address;
+
+        return Result::InProgress;
+    }
+
+    Result write(uint8_t *data, uint8_t length) {
+        if (state_ != State::Waiting)
+            return Result::InvalidState;
+
+        uint32_t program_type;
+        switch (length) {
+        case 2:
+            program_type = FLASH_PROC_PROGRAMHALFWORD;
+            break;
+        case 4:
+            program_type = FLASH_PROC_PROGRAMWORD;
+            break;
+        case 8:
+            program_type = FLASH_PROC_PROGRAMDOUBLEWORD;
+            break;
+        default:
+            return Result::InvalidParameter;
+        }
+
+        uint64_t data_int = 0;
+        memcpy(&data_int, data, length);
+
+        if (HAL_FLASH_Program_IT(program_type, address_, data_int) != HAL_OK)
+            return Result::WriteError;
+
+        state_ = State::Writing;
+        write_size_ = length;
+
+        return Result::InProgress;
+    }
+
+    State get_state() {
+        return state_;
+    }
+
+    void flash_callback(bool success) {
+        using enum State;
+
+        // Ignore if we are in Idle state, could be the result of
+        // a cancelled operation.
+        if (state_ == Idle)
+            return;
+
+        if (success) {
+            switch (state_) {
+            case Writing:
+            case Erasing:
+                address_ += write_size_;
+                flasher_state_callback(state_, Result::Success, address_);
+                state_ = Waiting;
+                write_size_ = 0;
+                break;
+            default:
+                // Spurious callback
+                HAL_FLASH_Lock();
+                state_ = Error;
+            }
+        } else {
+            switch (state_) {
+            case Writing:
+            case Erasing:
+                flasher_state_callback(state_, Result::WriteError, address_);
+            [[fallthrough]];
+            default:
+                // Spurious callback
+                HAL_FLASH_Lock();
+                state_ = Error;
+            }
+        }
+    }
+}
--- a/ld/STM32F103RCTx_FLASH.ld
+++ b/ld/STM32F103RCTx_FLASH.ld
@ -32,8 +32,6 @@
 /* Entry Point */
 ENTRY(Reset_Handler)

-/* Highest address of the user mode stack */
-_estack = 0x2000C000;    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
 _Min_Heap_Size = 0x200;      /* required amount of heap  */
 _Min_Stack_Size = 0x400; /* required amount of stack */
@ -41,8 +39,10 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 48K
-FLASH (rx)      : ORIGIN = 0x8000000, LENGTH = 256K
+RAM (xrw)      : ORIGIN = 0x20000000, LENGTH = 47K
+PERSIST (rw)   : ORIGIN = 0x2000BC00, LENGTH =  1K
+FLASH (rx)     : ORIGIN = _App_Base,  LENGTH =  _App_Length
+CONFIG(r)      : ORIGIN = 0x0803f800, LENGTH =  2K
 }

 /* Define output sections */
@ -114,7 +114,7 @@ SECTIONS
  _sidata = LOADADDR(.data);

  /* Initialized data sections goes into RAM, load LMA copy after code */
-  .data : 
+  .data :
  {
    . = ALIGN(4);
    _sdata = .;        /* create a global symbol at data start */
@ -125,7 +125,7 @@ SECTIONS
    _edata = .;        /* define a global symbol at data end */
  } >RAM AT> FLASH

-  
+
  /* Uninitialized data section */
  . = ALIGN(4);
  .bss :
@ -153,7 +153,16 @@ SECTIONS
    . = ALIGN(8);
  } >RAM

-  
+  /* Highest address of the user mode stack */
+  _estack = ORIGIN(RAM) + LENGTH(RAM);    /* end of RAM area */
+
+  .persist :
+  {
+    . = ALIGN(4);
+    persist = .;
+    . += LENGTH(PERSIST);
+    _epersist = .;
+  } > PERSIST

  /* Remove information from the standard libraries */
  /DISCARD/ :
@ -165,5 +174,3 @@ SECTIONS

  .ARM.attributes 0 : { *(.ARM.attributes) }
 }
-
-
--- a/ld/ab_boot.ld
+++ b/ld/ab_boot.ld
@ -0,0 +1,2 @@
+_App_Base = 0x08000000;
+_App_Length = 8K;
--- a/ld/app_a.ld
+++ b/ld/app_a.ld
@ -0,0 +1,2 @@
+_App_Base = 0x08002000;
+_App_Length = 122K;
--- a/ld/app_b.ld
+++ b/ld/app_b.ld
@ -0,0 +1,2 @@
+_App_Base = 0x08020800;
+_App_Length = 122K;
--- a/main.cpp
+++ b/main.cpp
@ -24,10 +24,11 @@
 #include <algorithm>
 #include <atomic>
 #include <bit>
-#include <cstdint>
 #include <cstring>

 #include "stm32f1xx_hal.h"
+#include "ab_boot/ab_boot.h"
+#include "persist/persist.h"

 #include "defines.h"
 #include "config.h"
@ -38,6 +39,8 @@
 #endif
 #ifdef FEATURE_CAN
 #include "bobbycar-can.h"
+#include "flasher/Flasher.hpp"
+#include "flasher/CANFlasher.hpp"
 #endif

 extern "C" {
@ -111,7 +114,7 @@ CAN_HandleTypeDef     CanHandle;
 #define CANx_TX_IRQn                   USB_HP_CAN1_TX_IRQn
 #define CANx_TX_IRQHandler             USB_HP_CAN1_TX_IRQHandler

-constexpr bool doDelayWithCanPoll = false;
+constexpr bool doDelayWithCanPoll = true;
 #endif

 #ifdef LOG_TO_SERIAL
@ -175,6 +178,8 @@ protocol::serial::Feedback feedback;
 #ifdef FEATURE_CAN
 std::atomic<int16_t> timeoutCntLeft   = 0;
 std::atomic<int16_t> timeoutCntRight  = 0;
+
+uint32_t *reboot_request_address = 0;
 #endif

 uint32_t main_loop_counter;
@ -248,6 +253,8 @@ void sendFeedback();
 void parseCanCommand();
 void applyIncomingCanMessage();
 void sendCanFeedback();
+void sendFlasherFeedback();
+void handleFlasher();
 #endif

 #ifdef FEATURE_BUTTON
@ -318,7 +325,6 @@ int main()

        enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };

-#ifndef FEATURE_BETTER_FOC_CONFIG
 #ifdef PETERS_PLATINE
        left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
 #else
@ -326,23 +332,6 @@ int main()
 #endif

        right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
-#else
-#ifdef LEFT_PHASE_MEAS_AB
-        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAB;
-#elif LEFT_PHASE_MEAS_BC
-        left.rtP.z_selPhaCurMeasABC  = CurrentMeasBC;
-#else
-        left.rtP.z_selPhaCurMeasABC  = CurrentMeasAC;
-#endif
-
-#ifdef RIGHT_PHASE_MEAS_AB
-        right.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
-#elif RIGHT_PHASE_MEAS_BC
-        right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
-#else
-        right.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
-#endif
-#endif
    }

    applyDefaultSettings();
@ -396,6 +385,7 @@ int main()
                while ((HAL_GetTick() - tickstart) < wait)
                {
                    applyIncomingCanMessage();
+                    sendFlasherFeedback();
                }
            };

@ -423,6 +413,7 @@ int main()
        parseCanCommand();

        sendCanFeedback();
+        handleFlasher();
 #endif

 #ifdef FEATURE_BUTTON
@ -467,6 +458,7 @@ void updateMotors()
    if (offsetcount < 2000) // calibrate ADC offsets
    {
        offsetcount++;
+        // TODO this is not an average
        offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
        offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
        offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
@ -496,11 +488,11 @@ void updateMotors()
 #endif
    int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);

-    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
+    const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV);
    if (chopL)
        left.chops++;

-    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * AMPERE2BIT_CONV);
+    const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * A2BIT_CONV);
    if (chopR)
        right.chops++;

@ -1383,22 +1375,36 @@ void MX_ADC2_Init()
    __HAL_ADC_ENABLE(&hadc2);
 }

-#ifdef FEATURE_BUTTON
-void poweroff()
+void shutdown()
 {
-//  if (abs(speed) < 20) {  // wait for the speed to drop, then shut down -> this is commented out for SAFETY reasons
    buzzer.pattern = 0;
    left.enable = false;
-    right.enable = 0;
+    right.enable = false;

    for (int i = 0; i < 8; i++) {
        buzzer.freq = (uint8_t)i;
        HAL_Delay(50);
    }
+}
+
+#ifdef FEATURE_BUTTON
+void poweroff()
+{
+    shutdown();
+
    HAL_GPIO_WritePin(OFF_PORT, OFF_PIN, GPIO_PIN_RESET);
    for (int i = 0; i < 5; i++)
        HAL_Delay(1000);
-//  }
+}
+#endif
+
+#ifdef FEATURE_CAN
+void reboot_new_image(uint32_t *bootp)
+{
+    shutdown();
+
+    request_boot_image(bootp);
+    HAL_NVIC_SystemReset();
 }
 #endif

@ -1407,8 +1413,8 @@ void communicationTimeout()
 {
    applyDefaultSettings();

-    buzzer.freq = 24;
-    buzzer.pattern = 1;
+    //buzzer.freq = 24;
+    //buzzer.pattern = 1;

    HAL_GPIO_WritePin(LED_PORT, LED_PIN, GPIO_PIN_RESET);
 }
@ -1423,21 +1429,21 @@ void doMotorTest()
    left.enable = true;
    left.rtU.r_inpTgt            = pwm;
    left.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
-    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Voltage);
-    left.rtP.i_max               = (2 * AMPERE2BIT_CONV) << 4;
+    left.rtU.z_ctrlModReq        = uint8_t(ControlMode::Torque);
+    left.rtP.i_max               = (2 * A2BIT_CONV) << 4;
    left.iDcMax                  = 8;
    left.rtP.n_max               = 1000 << 4;
-    left.rtP.id_fieldWeakMax     = (0 * AMPERE2BIT_CONV) << 4;
+    left.rtP.id_fieldWeakMax     = (0 * A2BIT_CONV) << 4;
    left.rtP.a_phaAdvMax         = 40 << 4;

    right.enable = true;
    right.rtU.r_inpTgt           = -pwm;
    right.rtP.z_ctrlTypSel       = uint8_t(ControlType::FieldOrientedControl);
-    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Voltage);
-    right.rtP.i_max              = (2 * AMPERE2BIT_CONV) << 4;
+    right.rtU.z_ctrlModReq       = uint8_t(ControlMode::Torque);
+    right.rtP.i_max              = (2 * A2BIT_CONV) << 4;
    right.iDcMax                 = 8;
    right.rtP.n_max              = 1000 << 4;
-    right.rtP.id_fieldWeakMax    = (0 * AMPERE2BIT_CONV) << 4;
+    right.rtP.id_fieldWeakMax    = (0 * A2BIT_CONV) << 4;
    right.rtP.a_phaAdvMax        = 40 << 4;

    constexpr auto pwmMax = 400;
@ -1490,9 +1496,9 @@ void parseCommand()
        left.iDcMax = command.left.iDcMax;

        left.rtP.z_ctrlTypSel    = uint8_t(command.left.ctrlTyp);
-        left.rtP.i_max           = (int16_t(command.left.iMotMax) * AMPERE2BIT_CONV) << 4;
+        left.rtP.i_max           = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4;
        left.rtP.n_max           = command.left.nMotMax << 4;
-        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * AMPERE2BIT_CONV) << 4;
+        left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4;
        left.rtP.a_phaAdvMax     = command.left.phaseAdvMax << 4;
        left.rtU.z_ctrlModReq    = uint8_t(command.left.ctrlMod);
        left.rtU.r_inpTgt        = command.left.pwm;
@ -1500,9 +1506,9 @@ void parseCommand()
        right.iDcMax = command.right.iDcMax;

        right.rtP.z_ctrlTypSel    = uint8_t(command.right.ctrlTyp);
-        right.rtP.i_max           = (int16_t(command.right.iMotMax) * AMPERE2BIT_CONV) << 4;        // fixdt(1,16,4)
+        right.rtP.i_max           = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4;        // fixdt(1,16,4)
        right.rtP.n_max           = command.right.nMotMax << 4;                       // fixdt(1,16,4)
-        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * AMPERE2BIT_CONV) << 4;   // fixdt(1,16,4)
+        right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4;   // fixdt(1,16,4)
        right.rtP.a_phaAdvMax     = command.right.phaseAdvMax << 4;                   // fixdt(1,16,4)
        right.rtU.z_ctrlModReq    = uint8_t(command.right.ctrlMod);
        right.rtU.r_inpTgt        = command.right.pwm;
@ -1643,16 +1649,16 @@ void applyIncomingCanMessage()
    case MotorController<isBackBoard, true> ::Command::CtrlTyp:       right.rtP.z_ctrlTypSel    = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, false>::Command::CtrlMod:       left .rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, true> ::Command::CtrlMod:       right.rtU.z_ctrlModReq    = *((uint8_t*)buf);       break;
-    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::IMotMax:       left .rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::IMotMax:       right.rtP.i_max           = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
    case MotorController<isBackBoard, false>::Command::IDcMax:        left .iDcMax              = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, true> ::Command::IDcMax:        right.iDcMax              = *((uint8_t*)buf);       break;
    case MotorController<isBackBoard, false>::Command::NMotMax:       left .rtP.n_max           = *((uint16_t*)buf) << 4; break;
    case MotorController<isBackBoard, true> ::Command::NMotMax:       right.rtP.n_max           = *((uint16_t*)buf) << 4; break;
-    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
-    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
-    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = ((uint16_t)*((uint8_t*)buf)) << 4; break;
+    case MotorController<isBackBoard, false>::Command::FieldWeakMax:  left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::FieldWeakMax:  right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
+    case MotorController<isBackBoard, false>::Command::PhaseAdvMax:   left .rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
+    case MotorController<isBackBoard, true> ::Command::PhaseAdvMax:   right.rtP.a_phaAdvMax     = *((uint16_t*)buf) << 4; break;
    case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
    case MotorController<isBackBoard, true> ::Command::CruiseCtrlEna: right.rtP.b_cruiseCtrlEna = *((bool*)buf);          break;
    case MotorController<isBackBoard, false>::Command::CruiseMotTgt:  left .rtP.n_cruiseMotTgt  = *((int16_T*)buf);       break;
@ -1667,11 +1673,21 @@ void applyIncomingCanMessage()
        break;
    case MotorController<isBackBoard, false>::Command::Poweroff:
    case MotorController<isBackBoard, true>::Command::Poweroff:
+        {
+            if (header.DLC >= 2)
+            {
+                // Reboot selected image
+                reboot_request_address = (uint32_t *)((*(uint8_t *)buf == 0) ? APP_A_START : APP_B_START);
+            }
+            else
+            {
 #ifdef FEATURE_BUTTON
-        if (*((bool*)buf))
-            poweroff();
+                if (*((bool*)buf))
+                    poweroff();
 #endif
-        break;
+            }
+            break;
+        }
    default:
 #ifndef CAN_LOG_UNKNOWN_ADDR
        if constexpr (false)
@ -1770,6 +1786,41 @@ void sendCanFeedback()

    arr[whichToSend++]();
 }
+
+void sendFlasherFeedback() {
+    using bobbycar::protocol::can::MotorController;
+    static CAN_TxHeaderTypeDef header = {
+        .StdId = MotorController<isBackBoard, false>::Command::FlasherCtrl,
+        .ExtId = 0,
+        .IDE = CAN_ID_STD,
+        .RTR = CAN_RTR_DATA,
+        .DLC = can_flasher::FeedbackSize,
+        .TransmitGlobalTime = DISABLE
+    };
+
+    if (HAL_CAN_GetTxMailboxesFreeLevel(&CanHandle) == 0)
+        return;
+
+    uint8_t buf[8];
+    if (!can_flasher::poll_feedback(HAL_GetTick(), buf))
+        return;
+
+    uint32_t TxMailbox;
+    if (const auto result = HAL_CAN_AddTxMessage(&CanHandle, &header, buf, &TxMailbox); result != HAL_OK) {
+        myPrintf("HAL_CAN_AddTxMessage() failed with %i", result);
+        //while (true);
+    }
+}
+
+void handleFlasher()
+{
+    sendFlasherFeedback();
+
+    if (reboot_request_address)
+    {
+        reboot_new_image(reboot_request_address);
+    }
+}
 #endif

 #ifdef FEATURE_BUTTON
@ -1834,10 +1885,10 @@ void applyDefaultSettings()
        motor.rtU.r_inpTgt            = 0;
        motor.rtP.z_ctrlTypSel        = uint8_t(ControlType::FieldOrientedControl);
        motor.rtU.z_ctrlModReq        = uint8_t(ControlMode::OpenMode);
-        motor.rtP.i_max               = (5 * AMPERE2BIT_CONV) << 4;
+        motor.rtP.i_max               = (5 * A2BIT_CONV) << 4;
        motor.iDcMax                  = 7;
        motor.rtP.n_max               = 1000 << 4;
-        motor.rtP.id_fieldWeakMax     = (1 * AMPERE2BIT_CONV) << 4;
+        motor.rtP.id_fieldWeakMax     = (1 * A2BIT_CONV) << 4;
        motor.rtP.a_phaAdvMax         = 40 << 4;
        motor.rtP.b_cruiseCtrlEna     = false;
        motor.rtP.n_cruiseMotTgt      = 0;
@ -2064,4 +2115,25 @@ extern "C" void CANx_TX_IRQHandler(void)
    using namespace bobbycar::controller;
    HAL_CAN_IRQHandler(&CanHandle);
 }
+
+// CAN flasher stuff
+extern "C" void FLASH_IRQHandler(void)
+{
+    HAL_FLASH_IRQHandler();
+}
+
+extern "C" void HAL_FLASH_EndOfOperationCallback(uint32_t ReturnValue)
+{
+    (void)ReturnValue;
+
+    flasher::flash_callback(true);
+}
+
+extern "C" void HAL_FLASH_OperationErrorCallback(uint32_t ReturnValue)
+{
+    (void)ReturnValue;
+
+    flasher::flash_callback(false);
+}
+
 #endif
--- a/persist/persist.c
+++ b/persist/persist.c
@ -0,0 +1,10 @@
+#include <assert.h>
+
+#include "persist.h"
+#include "ab_boot/ab_boot.h"
+
+// keep this in sync with the linker script
+#define PERSIST_SIZE 1024
+
+extern struct persist_data persist;
+static_assert(sizeof(persist) < PERSIST_SIZE);
--- a/persist/persist.h
+++ b/persist/persist.h
@ -0,0 +1,39 @@
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "ab_boot/ab_boot.h"
+
+struct persist_data {
+    struct ab_boot_config ab_boot_config;
+    uint32_t checksum;
+};
+
+extern struct persist_data persist;
+
+static inline uint32_t calculate_persist_checksum() {
+    uint32_t checksum = 0;
+    uint32_t *pd = (uint32_t *)&persist;
+    for (int i = 0; i < (sizeof(persist) - 4) / 4; i++) {
+        checksum += pd[i];
+        checksum = (checksum >> 3) | (checksum << 29);
+    }
+
+    checksum = ~checksum;
+
+    return checksum;
+}
+
+static inline void update_persist_checksum() {
+    persist.checksum = calculate_persist_checksum();
+}
+
+static inline bool is_persist_valid() {
+    return calculate_persist_checksum() == persist.checksum;
+}
+
+static inline void request_boot_image(uint32_t *bootp) {
+    persist.ab_boot_config.boot_partition = bootp;
+    update_persist_checksum();
+}
--- a/system_stm32f1xx.c
+++ b/system_stm32f1xx.c
@ -110,10 +110,10 @@
 /*!< Uncomment the following line if you need to relocate your vector Table in
     Internal SRAM. */
 /* #define VECT_TAB_SRAM */
-#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field. \
+extern unsigned int g_pfnVectors[];
+#define VECT_TAB_OFFSET ((unsigned int)g_pfnVectors) /*!< Vector Table base offset field. \
                                 This value must be a multiple of 0x200. */

-
 /**
  * @}
  */
Author	SHA1	Message	Date
Michael Ehrenreich	f3603870fa	Implement reboot to new image	2022-08-12 17:10:57 +02:00
Michael Ehrenreich	fc6fbd083d	WIP CAN flashing support	2022-08-12 17:10:57 +02:00
Michael Ehrenreich	bda583b94c	Add persist RAM area for passing data across resets; implement booting from a partition specified in the persist RAM area	2022-08-12 17:10:06 +02:00
Michael Ehrenreich	f29c4d182e	Deduplicate and improve linker scripts	2022-04-28 21:08:02 +02:00
Michael Ehrenreich	6fae8ef918	Resolve location of interrupt vector table at link time	2022-04-28 21:08:02 +02:00
Michael Ehrenreich	62967fe497	Make bobbycar-protocol library less useless	2022-04-28 21:08:02 +02:00
Michael Ehrenreich	c0401ffd32	Stop trying to please CMake	2022-04-28 21:08:02 +02:00
Michael Ehrenreich	4376dceb23	Organize defines in ab_boot.h better	2022-04-28 21:08:02 +02:00
Michael Ehrenreich	9fa8b64e81	Add bootloader for A/B update support	2022-04-28 21:08:02 +02:00