From 1e6d47ddaee2b346d65da17d40c765ebf5927df4 Mon Sep 17 00:00:00 2001 From: cbb <2625274797@qq.com> Date: Mon, 12 Jan 2026 01:06:05 +0800 Subject: [PATCH] =?UTF-8?q?feat(bootloader):=20=E6=B7=BB=E5=8A=A0=E4=BA=86?= =?UTF-8?q?=E5=AE=8C=E6=95=B4=E7=9A=84=E7=B3=BB=E7=BB=9F=E4=BC=91=E7=9C=A0?= =?UTF-8?q?=E5=92=8C=E5=94=A4=E9=86=92=E6=9C=BA=E5=88=B6=EF=BC=8C=E5=8C=85?= =?UTF-8?q?=E6=8B=AC=EF=BC=9A?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 实现深睡眠模式下的功耗优化 - 添加PB8引脚的外部中断唤醒功能 - 新增Flash区域用于睡眠状态管理 - 实现睡眠配置的自动检查和恢复逻辑 同时重构了OTA_SET函数，改进了Flash配置参数的写入机制， 解决了GD32 Flash特性导致的0到1写入问题，并添加了详细的 调试信息输出和错误处理。 --- Robot_V2/main.cpp | 14 +- Robot_V2/sys/OTA.cpp | 89 +- Robot_V2/sys/OTA.h | 1 + Robot_V2/sys/config.h | 6 + Robot_V2/sys/initial.cpp | 167 +- Robot_V2/sys/initial.h | 4 +- out/Robot_V2/GD32C103CB/Release/Robot_V2.axf | Bin 236500 -> 247336 bytes .../GD32C103CB/Release/Robot_V2.axf.map | 343 +-- out/Robot_V2/GD32C103CB/Release/Robot_V2.hex | 2358 +++++++++-------- tmp/.ninja_log | 64 +- tmp/1/.ninja_deps | Bin 109432 -> 129692 bytes tmp/1/.ninja_log | 90 +- .../G_/Robot_v2/BOOT/Robot_V2/main.o | Bin 14780 -> 14528 bytes .../G_/Robot_v2/BOOT/Robot_V2/device/Can.o | Bin 38244 -> 38244 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/OTA.o | Bin 40992 -> 41128 bytes .../G_/Robot_v2/BOOT/Robot_V2/sys/initial.o | Bin 16304 -> 30528 bytes 16 files changed, 1697 insertions(+), 1439 deletions(-) diff --git a/Robot_V2/main.cpp b/Robot_V2/main.cpp index c65fd20..54f87a1 100644 --- a/Robot_V2/main.cpp +++ b/Robot_V2/main.cpp @@ -4,6 +4,7 @@ #include "gd32c10x.h" #include "initial.h" #include "sys/OTA.h" +#include "sys/initial.h" #include "sys/systick.h" #include #include @@ -14,9 +15,10 @@ extern OTAHandler ota; void BootloaderSystem::initHardware() { systick_config(); // 系统时钟初始化 - USART0_init(); // 调试串口初始化 + // USART0_init(); // 调试串口初始化 CAN0_transmiter.init(); + check_sleep(); } void BootloaderSystem::run() { @@ -26,12 +28,16 @@ void BootloaderSystem::run() { u32 app_check = *flash_ptr; if (app_check == OTA_AVAL and app_enable == OTA_AVAL) { // APP已确认且激活，直接进入 +#if OTA_DEBUG printf("Normal Mode\r\n"); +#endif // 正常模式：跳转到APP ota.jumpToApplication(); } else if (app_check == OTA_AVAL and app_enable == OTA_NOT_AVAL) { // 手动禁用APP，进入OTA模式 +#if OTA_DEBUG printf("OTA Mode1\r\n"); +#endif // OTA模式 while (1) { CAN0_transmiter.communication_check(); @@ -44,12 +50,16 @@ void BootloaderSystem::run() { u32 back_check = *flash_ptr; if (back_check == OTA_AVAL and back_aval == OTA_AVAL) { // backup已确认且激活，复制到主APP区域 +#if OTA_DEBUG printf("OTA Mode3\r\n"); +#endif CAN0_transmiter.sendBackup(); move_app_data(); // 恢复BACKUP ota.jumpToApplication(); // 跳转到APP - } else { // backup无效，进入OTA模式 + } else { // backup无效，进入OTA模式 +#if OTA_DEBUG printf("OTA Mode4\r\n"); +#endif // OTA模式 while (1) { CAN0_transmiter.communication_check(); diff --git a/Robot_V2/sys/OTA.cpp b/Robot_V2/sys/OTA.cpp index e63c30d..ebb759b 100644 --- a/Robot_V2/sys/OTA.cpp +++ b/Robot_V2/sys/OTA.cpp @@ -26,26 +26,40 @@ inline fmc_state_enum write_ADDRESS(u32 address, u32 data) { return fmc_status; } +/** + * @brief 设置OTA配置参数到Flash + * + * 此函数用于更新存储在Flash中的OTA相关标志位（如APP可用、启用、校验等）。 + * GD32的Flash特性是：只能将1写为0，不能将0写为1。若要将0变为1，必须先擦除整个页面。 + * 因此，本函数通过读取同一页内的所有参数，擦除该页，然后重新写入有效的参数来实现“写1”操作。 + * + * @param addr: 要设置的Flash地址 + * @param data: 要写入的数据 (通常为OTA_AVAL=0x00000000 或 OTA_NOT_AVAL=0xFFFFFFFF) + * @retval FLASH_EEPROM_OK (0) 表示成功, 其他值表示失败 + */ u8 OTA_SET(u32 addr, u32 data) { fmc_state_enum fmc_status; - u32 temp_val[OTA_CONFIG_NUM]; + u32 temp_val[OTA_CONFIG_NUM]; // 临时数组，用于存储当前所有配置参数的值 volatile u32 *flash_ptr = (volatile u32 *)addr; + + // 1. 检查目标地址的值是否已与期望值相同，如果相同则无需操作 temp_val[0] = *flash_ptr; - if (temp_val[0] == data) { // 如果相同 - return FLASH_EEPROM_OK; // 成功 + if (temp_val[0] == data) { + return FLASH_EEPROM_OK; // 值已正确，直接返回成功 } - fmc_unlock(); - // 如果不同，且要写0，直接写 + // 2. 尝试直接写入数据。这适用于将1修改为0的情况（因为Flash允许1->0） if (data == OTA_AVAL) { fmc_status = write_ADDRESS(addr, data); - fmc_lock(); + // 如果写入成功，则返回成功 if (fmc_status == FMC_READY) { - return FLASH_EEPROM_OK; // 成功可以直接退出 + return FLASH_EEPROM_OK; } + // 如果写入失败（例如地址已被写为0），则继续执行后续的擦除-重写流程 } - // 如果不同或写入出错，要写1，需要重置，然后再写 + // 3. 对于需要将0改回1的操作，必须先擦除整个Flash页 + // 首先读取同一页内所有相关配置参数的当前状态 flash_ptr = (volatile u32 *)n_APP_LATEST_AVAL_ADDR; temp_val[0] = *flash_ptr; flash_ptr = (volatile u32 *)n_APP_BACKUP_AVAL_ADDR; @@ -58,27 +72,50 @@ u8 OTA_SET(u32 addr, u32 data) { temp_val[4] = *flash_ptr; flash_ptr = (volatile u32 *)n_APP_BACKUP_CHECK_ADDR; temp_val[5] = *flash_ptr; + #if EEP_DEBUG - printf("OTA_SET\r\n"); - printf("0x%x_0x%x_0x%x_0x%x\r\n", temp_val[0], temp_val[1], temp_val[2], - temp_val[3]); + printf("OTA_SET - Start updating configuration\r\n"); + // 修复：完整输出所有6个配置项的值，便于调试 + printf("LatestAval:0x%x, BackupAval:0x%x, LatestEn:0x%x, " + "BackupEn:0x%x, LatestCheck:0x%x, BackupCheck:0x%x\r\n", + temp_val[0], temp_val[1], temp_val[2], temp_val[3], temp_val[4], temp_val[5]); #endif - fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR); // 擦除页 + + // 4. 擦除包含所有配置参数的Flash页 + fmc_status = fmc_page_erase(n_APP_LATEST_AVAL_ADDR); if (fmc_status != FMC_READY) { - return FLASH_EEPROM_ERROR; // 擦除错误退出 +#if EEP_DEBUG + printf("OTA_SET - Page erase failed! Status: %d\r\n", fmc_status); +#endif + return FLASH_EEPROM_ERROR; } + + // 5. 重新写入所有之前为有效(OTA_AVAL)的配置项 + // 注意：不包括当前正在设置的地址，因为它将在最后单独处理 for (int i = 0; i < OTA_CONFIG_NUM; i++) { - if (temp_val[i] == OTA_AVAL and - n_APP_LATEST_AVAL_ADDR + 4 * i != addr) { - fmc_status = write_ADDRESS(n_APP_LATEST_AVAL_ADDR + 4 * i, - OTA_AVAL); // 把需要写入0的写入0 + u32 current_addr = n_APP_LATEST_AVAL_ADDR + 4 * i; + if (temp_val[i] == OTA_AVAL && current_addr != addr) { + fmc_status = write_ADDRESS(current_addr, OTA_AVAL); if (fmc_status != FMC_READY) { - fmc_lock(); - return FLASH_EEPROM_ERROR; // 写入错误退出 +#if EEP_DEBUG + printf("OTA_SET - Write backup value failed at 0x%08X!\r\n", current_addr); +#endif + return FLASH_EEPROM_ERROR; } } } - fmc_lock(); + + // 6. 最后，写入本次调用的目标数据 + // 即使addr为0（理论上无效），也检查一下以避免潜在问题 + if (addr != 0) { + fmc_status = write_ADDRESS(addr, data); + if (fmc_status != FMC_READY) { +#if EEP_DEBUG + printf("OTA_SET - Final write to target address 0x%08X failed!\r\n", addr); +#endif + return FLASH_EEPROM_ERROR; + } + } return FLASH_EEPROM_OK; } @@ -124,8 +161,10 @@ void OTAHandler::process() { u32 if_aval = *flash_ptr; send_error_frame(OTA_ERROR_TIMEOUT); // OTA超时 if (if_checked == OTA_AVAL and if_aval == OTA_AVAL) { + fmc_unlock(); OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_AVAL); // 实际可用，设置APP为启用 + fmc_lock(); jumpToApplication(); } } @@ -178,8 +217,11 @@ void OTAHandler::jumpToApplication() { } printf("jumping1\r\n"); #endif + fmc_unlock(); OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_AVAL); // 设置APP为可用 OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL); // 设置APP为激活 + fmc_lock(); + // 1. 关闭所有中断 __disable_irq(); for (int i = 0; i < 8; i++) { @@ -238,11 +280,12 @@ void OTAHandler::jumpToApplication() { * @retval 无 */ void OTAHandler::eraseApplicationArea() { + // 擦除APP区域 + fmc_unlock(); OTA_SET(n_APP_LATEST_CHECK_ADDR, OTA_NOT_AVAL); // 设置APP为未确认 OTA_SET(n_APP_LATEST_EN_ADDR, OTA_NOT_AVAL); // 设置APP为未激活 OTA_SET(n_APP_LATEST_AVAL_ADDR, OTA_NOT_AVAL); // 设置APP为不可用 - // 擦除APP区域 - fmc_unlock(); + // 擦除前禁用中断，防止中断处理程序执行期间发生Flash操作导致问题 __disable_irq(); @@ -485,8 +528,8 @@ void OTAHandler::handleOTAMessage(u32 id, u8 *data, u8 len) { if (memcmp(plaintext, expected, 16) != 0) { // 验证失败 - 可能密钥错误或攻击 ota_error = OTA_ERROR_INVALID_KEY; - send_error_frame(OTA_ERROR_INVALID_KEY); // 验证失败 ota_state = OTA_STATE_IDLE; + send_error_frame(OTA_ERROR_INVALID_KEY); // 验证失败 return; } diff --git a/Robot_V2/sys/OTA.h b/Robot_V2/sys/OTA.h index 9bbf929..f032d25 100644 --- a/Robot_V2/sys/OTA.h +++ b/Robot_V2/sys/OTA.h @@ -58,5 +58,6 @@ void calculate_crc32_with_key(const u8 *key, const u8 *data, void send_error_frame(u8 error); bool validateApplication(); fmc_state_enum move_app_data(); +u8 OTA_SET(u32 addr, u32 data); #endif \ No newline at end of file diff --git a/Robot_V2/sys/config.h b/Robot_V2/sys/config.h index 3163f9a..399c0f5 100644 --- a/Robot_V2/sys/config.h +++ b/Robot_V2/sys/config.h @@ -5,6 +5,7 @@ #define EEPDEBUG 0 #define DEBUG_OTA 0 #define CAN_DEBUG 0 +#define SLEEP_DEBUG 0 // Flash分区配置 constexpr u32 BOOTLOADER_SIZE = 0x4000; // 16KB @@ -13,6 +14,11 @@ constexpr u32 APPLATEST_START_ADDR = 0x08011000; // APP起始地址 constexpr u32 APPBACK_START_ADDR = 0x08005000; // APPBACK起始地址 constexpr u32 APP_MAX_SIZE = 0xC000; // 48KB constexpr u32 FMC_PAGE_SIZE = 0x400; // 1KB +constexpr u32 SLEEP_CONFIG_START = 0x0801D400; // 睡眠配置起始地址 +constexpr u32 SLEEP_CONFIG_END = 0x0801D800; // 睡眠配置结束地址 +constexpr u32 FLASH_EMPTY = 0xFFFFFFFF; // 空数据 +constexpr u32 SLEEP_ENABLE = 0x11111111; // 睡眠使能 +constexpr u32 SLEEP_DISABLE = 0x00000000; // 睡眠禁止 // BOOT 相关 diff --git a/Robot_V2/sys/initial.cpp b/Robot_V2/sys/initial.cpp index 9e01ee0..aca7aea 100644 --- a/Robot_V2/sys/initial.cpp +++ b/Robot_V2/sys/initial.cpp @@ -1,11 +1,17 @@ #include "initial.h" +#include "OTA.h" +#include "config.h" +#include "core_cmFunc.h" #include "gd32c10x.h" #include "gd32c10x_gpio.h" #include "gd32c10x_rcu.h" +#include "main.h" +#include "systick.h" #include #include #include -#include "config.h" + +extern BootloaderSystem sys; /* retarget the C library printf function to the USART */ u8 USART0_init() { @@ -36,7 +42,6 @@ void unused_pin_init() { gpio_bit_reset(GPIOC, GPIO_PIN_13 | GPIO_PIN_14 | GPIO_PIN_15); } - /** * @brief 扫描APP地址范围内的Flash内容 * @param print_content 是否打印Flash内容，默认为true @@ -134,6 +139,164 @@ void scanAppFlashContent(bool print_content = true, u32 page_count = 0) { #endif } +/*! + \brief prepare system to enter deep sleep mode + \param[in] none + \param[out] none + \retval none +*/ +void enter_deep_sleep() { + // 关闭不必要的外设时钟 + rcu_periph_clock_disable(RCU_TIMER0); // 关闭定时器时钟 + rcu_periph_clock_disable(RCU_TIMER1); + rcu_periph_clock_disable(RCU_SPI0); // 关闭SPI时钟 + rcu_periph_clock_disable(RCU_I2C0); // 关闭I2C时钟 + rcu_periph_clock_disable(RCU_ADC0); // 关闭ADC时钟 + // 注意不要关闭GPIOB和AF的时钟，因为需要它们来处理唤醒中断 + + // 设置深睡眠模式下的电压以进一步降低功耗 + rcu_deepsleep_voltage_set(RCU_DEEPSLEEP_V_0_8); // 设置最低电压 + + // 配置PB8为输入模式，用于外部中断 + rcu_periph_clock_enable(RCU_GPIOB); + rcu_periph_clock_enable(RCU_AF); + gpio_init(GPIOB, GPIO_MODE_IN_FLOATING, GPIO_OSPEED_50MHZ, GPIO_PIN_8); + + // 配置EXTI中断（连接到PB8引脚） + gpio_exti_source_select(GPIO_PORT_SOURCE_GPIOB, + GPIO_PIN_SOURCE_8); // 配置GPIOB的PIN8作为EXTI8的源 + exti_init(EXTI_8, EXTI_INTERRUPT, EXTI_TRIG_RISING); // 边沿触发 + exti_interrupt_enable(EXTI_8); + nvic_irq_enable(EXTI5_9_IRQn, 0, 0); // + + // 确保中断标志已被清除 + exti_interrupt_flag_clear(EXTI_8); + __enable_irq(); + delay_1ms(10); + // 进入深度睡眠 + pmu_to_deepsleepmode(PMU_LDO_LOWPOWER, WFI_CMD); +} + + +/** +* @brief 写地址 +* @return fmc_state_enum +*/ +fmc_state_enum write_ADDRESS(u32 address, u32 data) { + fmc_unlock(); + fmc_flag_clear(FMC_FLAG_PGERR | FMC_FLAG_PGAERR | FMC_FLAG_WPERR); + + // 确保使用对齐地址 + fmc_state_enum fmc_status = fmc_word_program(address, data); + + fmc_lock(); + return fmc_status; +} + +/** + * @brief EXTI5_9中断处理函数 + * @param 无 + * @retval 无 + */ +void EXTI5_9_IRQHandler(void) { + if (exti_interrupt_flag_get(EXTI_8) != RESET) { + // 清除中断标志 + exti_interrupt_flag_clear(EXTI_8); + // 禁用EXTI线8的中断，防止重复触发 + exti_interrupt_disable(EXTI_8); +#if SLEEP_DEBUG + printf("MCU wake up\r\n"); +#endif + OTA_SET(n_APP_LATEST_EN_ADDR, OTA_AVAL); // 设置APP为不激活 + // 遍历睡眠存储区 + for (u32 address = SLEEP_CONFIG_END - SIZE_U32; + address >= SLEEP_CONFIG_START; address -= SIZE_U32) { + volatile u32 *flash_ptr = (volatile u32 *)address; + u32 sleep_check = *flash_ptr; + if (sleep_check == FLASH_EMPTY and + address > SLEEP_CONFIG_START) { // 空则跳过该次循环 + continue; + } else if ( + sleep_check == SLEEP_ENABLE and + address > + SLEEP_CONFIG_START) { // 如果检查到睡眠启用，写入非启用 +#if SLEEP_DEBUG + printf("boot sleep found %08x at %08x\r\n", sleep_check, + address); +#endif + if (address == SLEEP_CONFIG_END - SIZE_U32) { + fmc_unlock(); + fmc_state_enum fmc_status = + fmc_page_erase(SLEEP_CONFIG_START); // 擦除已满的页 + if (fmc_status != FMC_READY) { // 擦除失败报错 + fmc_lock(); + return; + } + address = SLEEP_CONFIG_START - SIZE_U32; // 重新开始写入 + } + fmc_state_enum fmc_status = + write_ADDRESS(address + SIZE_U32, SLEEP_DISABLE); + if (fmc_status != FMC_READY) { // 写入失败报错 + ; + } + break; // 完成，跳出遍历 + } else if (sleep_check == SLEEP_DISABLE) { // 已经是非休眠则跳出遍历 + break; + } else { + fmc_state_enum fmc_status = + write_ADDRESS(address, SLEEP_DISABLE); + if (fmc_status != FMC_READY) { // 写入失败报错 + ; + } + break; + } + } + // 唤醒后软重启，确保正常初始化 + system_soft_reset(); + } +} + +int check_sleep() { +#if SLEEP_DEBUG + printf("sleep check\r\n"); +#endif + for (u32 address = SLEEP_CONFIG_END - SIZE_U32; + address >= SLEEP_CONFIG_START; address -= SIZE_U32) { // 遍历睡眠存储区 + volatile u32 *flash_ptr = (volatile u32 *)address; + u32 sleep_check = *flash_ptr; +#if SLEEP_DEBUG + printf("sleep check %8x-----%x\r\n", address, sleep_check); +#endif + if (sleep_check == FLASH_EMPTY) { // 空则跳过 + continue; + } else if (sleep_check == SLEEP_ENABLE) { // 睡眠使能则继续休眠 +#if SLEEP_DEBUG + printf("sleep enable\r\n"); +#endif + enter_deep_sleep(); + return 0; + } else if (sleep_check == SLEEP_DISABLE) { // 禁用睡眠则跳出 +#if SLEEP_DEBUG + printf("sleep disable\r\n"); +#endif + return 0; + } + } + // 遍历到头都未找到，写入第一次的数据 +#if SLEEP_DEBUG + printf("boot sleep not found\r\n"); +#endif + fmc_state_enum fmc_status = + write_ADDRESS(SLEEP_CONFIG_START, SLEEP_DISABLE); + if (fmc_status != FMC_READY) { // 写入失败报错 +#if SLEEP_DEBUG + printf("boot sleep write error\r\n"); +#endif + return 1; + } + return 2; // 第一次启动 +} + // // 发送单个字节到串口 (用于调试) // void uart_send_byte(uint8_t data) { // // 实际的串口发送代码 diff --git a/Robot_V2/sys/initial.h b/Robot_V2/sys/initial.h index 2b46ba3..412b588 100644 --- a/Robot_V2/sys/initial.h +++ b/Robot_V2/sys/initial.h @@ -15,7 +15,9 @@ u8 USART0_init(void); u16 get_reset_cause(void); void unused_pin_init(); void print_system_clock_info(void); - +void enter_deep_sleep(void); +int check_sleep(void); +void EXTI5_9_IRQHandler(void); #ifdef __cplusplus } #endif diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf 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z(9m83Gx`qib6aq)m8w04^{kQ6XY{aG%E6R^S#K?kOv@Lmv?_8zR@-MHUqoWptcskS z)~Q2-_8qHb49IG{D$+hR_UKEI1F<7-g)fK|$%2MV zy=bySU$?f2-!CTnUYc_s2^Ws-TNKWp^~KuA=#;FEuSCYDol~tvD73VPzudC%(&o)= zRXKL;lt^kU-y4zq;abgOCEtjY2@h)?YxqW_e4hTs9Tpq>Mx<2UplABGh~1|;?Ds2v z=M9>Fzc{wfBzd|G@xMi}b2djV&O2qK|6RW*cE#pMnYYmN9TY_@I&ME%nGj?}S zF1jrx)T?;x*`PfBU`nXUwAd#>d3k0yRP6ECiJ<&?(MV`*jad0D%47Z6-s9)S+9;os zep4j0&EDL(>p F`ajqT#1Q}h diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map index 5dd1d19..71fb4ab 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.axf.map @@ -6,164 +6,169 @@ Memory Map of the image Image Entry point : 0x08000165 - Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004a30, Max: 0x08005000, ABSOLUTE) + Load Region LR_ROM0 (Base: 0x08000000, Size: 0x00004d50, Max: 0x08005000, ABSOLUTE) - Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00004934, Max: 0x08005000, ABSOLUTE) + Execution Region ER_ROM0 (Base: 0x08000000, Size: 0x00004c58, Max: 0x08005000, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x08000000 0x00000150 Data RO 879 RESET startup_gd32c10x.o - 0x08000150 0x00000000 Code RO 1043 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) - 0x08000150 0x00000004 Code RO 1470 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) - 0x08000154 0x00000004 Code RO 1473 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) - 0x08000158 0x00000000 Code RO 1475 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) - 0x08000158 0x00000000 Code RO 1477 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) - 0x08000158 0x00000008 Code RO 1478 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) - 0x08000160 0x00000000 Code RO 1480 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) - 0x08000160 0x00000000 Code RO 1482 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) - 0x08000160 0x00000004 Code RO 1471 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) - 0x08000164 0x0000002c Code RO 880 * .text startup_gd32c10x.o - 0x08000190 0x00000024 Code RO 1052 .text mc_w.l(memcpya.o) - 0x080001b4 0x00000024 Code RO 1054 .text mc_w.l(memseta.o) - 0x080001d8 0x0000001a Code RO 1056 .text mc_w.l(memcmp.o) - 0x080001f2 0x00000002 Code RO 1498 .text mc_w.l(abort.o) - 0x080001f4 0x00000030 Code RO 1825 .text mc_w.l(init.o) - 0x08000224 0x0000009c Code RO 167 .text.CAN0_RX0_IRQHandler Can.o - 0x080002c0 0x0000004a Code RO 169 .text.DMA0_Channel4_IRQHandler Can.o + 0x08000000 0x00000150 Data RO 889 RESET startup_gd32c10x.o + 0x08000150 0x00000000 Code RO 1053 * .ARM.Collect$$$$00000000 mc_w.l(entry.o) + 0x08000150 0x00000004 Code RO 1480 .ARM.Collect$$$$00000003 mc_w.l(entry4.o) + 0x08000154 0x00000004 Code RO 1483 .ARM.Collect$$$$00000004 mc_w.l(entry5.o) + 0x08000158 0x00000000 Code RO 1485 .ARM.Collect$$$$00000008 mc_w.l(entry7b.o) + 0x08000158 0x00000000 Code RO 1487 .ARM.Collect$$$$0000000A mc_w.l(entry8b.o) + 0x08000158 0x00000008 Code RO 1488 .ARM.Collect$$$$0000000B mc_w.l(entry9a.o) + 0x08000160 0x00000000 Code RO 1490 .ARM.Collect$$$$0000000D mc_w.l(entry10a.o) + 0x08000160 0x00000000 Code RO 1492 .ARM.Collect$$$$0000000F mc_w.l(entry11a.o) + 0x08000160 0x00000004 Code RO 1481 .ARM.Collect$$$$00002714 mc_w.l(entry4.o) + 0x08000164 0x0000002c Code RO 890 * .text startup_gd32c10x.o + 0x08000190 0x00000024 Code RO 1062 .text mc_w.l(memcpya.o) + 0x080001b4 0x00000024 Code RO 1064 .text mc_w.l(memseta.o) + 0x080001d8 0x0000001a Code RO 1066 .text mc_w.l(memcmp.o) + 0x080001f2 0x00000002 Code RO 1508 .text mc_w.l(abort.o) + 0x080001f4 0x00000030 Code RO 1835 .text mc_w.l(init.o) + 0x08000224 0x0000009c Code RO 177 .text.CAN0_RX0_IRQHandler Can.o + 0x080002c0 0x0000004a Code RO 179 .text.DMA0_Channel4_IRQHandler Can.o 0x0800030a 0x00000002 PAD - 0x0800030c 0x00000026 Code RO 171 .text.DMA0_Channel5_IRQHandler Can.o + 0x0800030c 0x00000026 Code RO 181 .text.DMA0_Channel5_IRQHandler Can.o 0x08000332 0x00000002 PAD - 0x08000334 0x00000342 Code RO 886 .text.SystemInit system_gd32c10x.o - 0x08000676 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0x00000002 PAD + 0x08003bf4 0x00000010 Code RO 423 .text.exti_interrupt_enable gd32c10x_exti.o + 0x08003c04 0x0000000c Code RO 441 .text.exti_interrupt_flag_clear gd32c10x_exti.o + 0x08003c10 0x00000012 Code RO 439 .text.exti_interrupt_flag_get gd32c10x_exti.o + 0x08003c22 0x00000002 PAD + 0x08003c24 0x0000000c Code RO 512 .text.fmc_flag_clear gd32c10x_fmc.o + 0x08003c30 0x00000012 Code RO 474 .text.fmc_lock gd32c10x_fmc.o + 0x08003c42 0x00000002 PAD + 0x08003c44 0x00000166 Code RO 478 .text.fmc_page_erase gd32c10x_fmc.o + 0x08003daa 0x00000002 PAD + 0x08003dac 0x00000026 Code RO 472 .text.fmc_unlock gd32c10x_fmc.o + 0x08003dd2 0x00000002 PAD + 0x08003dd4 0x000001aa Code RO 484 .text.fmc_word_program gd32c10x_fmc.o + 0x08003f7e 0x00000002 PAD + 0x08003f80 0x0000002c Code RO 88 .text.fputc initial.o + 0x08003fac 0x00000004 Code RO 568 .text.gpio_bit_reset gd32c10x_gpio.o + 0x08003fb0 0x00000048 Code RO 584 .text.gpio_exti_source_select gd32c10x_gpio.o + 0x08003ff8 0x000002c0 Code RO 564 .text.gpio_init gd32c10x_gpio.o + 0x080042b8 0x00000080 Code RO 582 .text.gpio_pin_remap_config gd32c10x_gpio.o + 0x08004338 0x0000001e Code RO 8 .text.main main.o + 0x08004356 0x00000002 PAD + 0x08004358 0x00000060 Code RO 611 .text.nvic_irq_enable gd32c10x_misc.o + 0x080043b8 0x0000001c Code RO 615 .text.nvic_vector_table_set gd32c10x_misc.o + 0x080043d4 0x000000c6 Code RO 644 .text.pmu_to_deepsleepmode gd32c10x_pmu.o + 0x0800449a 0x00000002 PAD + 0x0800449c 0x00000012 Code RO 733 .text.rcu_all_reset_flag_clear gd32c10x_rcu.o + 0x080044ae 0x00000002 PAD + 0x080044b0 0x00000010 Code RO 759 .text.rcu_deepsleep_voltage_set gd32c10x_rcu.o + 0x080044c0 0x00000020 Code RO 681 .text.rcu_periph_clock_disable gd32c10x_rcu.o + 0x080044e0 0x0000001e Code RO 679 .text.rcu_periph_clock_enable gd32c10x_rcu.o + 0x080044fe 0x00000002 PAD + 0x08004500 0x00000020 Code RO 689 .text.rcu_periph_reset_disable gd32c10x_rcu.o + 0x08004520 0x0000001e Code RO 687 .text.rcu_periph_reset_enable gd32c10x_rcu.o + 0x0800453e 0x00000002 PAD + 0x08004540 0x00000014 Code RO 695 .text.rcu_system_clock_source_config gd32c10x_rcu.o + 0x08004554 0x00000020 Code RO 70 .text.system_soft_reset systick.o + 0x08004574 0x00000048 Code RO 62 .text.systick_config systick.o + 0x080045bc 0x00000006 Code RO 1332 .text.unlikely.abort_message libcppabi_wx.l(abort_message.cpp.o) + 0x080045c2 0x00000002 PAD + 0x080045c4 0x00000008 Code RO 803 .text.usart_data_transmit gd32c10x_usart.o + 0x080045cc 0x00000010 Code RO 865 .text.usart_flag_get gd32c10x_usart.o + 0x080045dc 0x0000000e Code RO 1924 i.__scatterload_copy mc_w.l(handlers.o) + 0x080045ea 0x00000002 Code RO 1925 i.__scatterload_null mc_w.l(handlers.o) + 0x080045ec 0x0000000e Code RO 1926 i.__scatterload_zeroinit mc_w.l(handlers.o) + 0x080045fa 0x00000002 PAD + 0x080045fc 0x00000024 Code RO 1056 i.puts mc_w.l(puts.o) + 0x08004620 0x00000100 Data RO 50 .rodata._ZL4sbox aes128.o + 0x08004720 0x00000010 Data RO 145 .rodata._ZL8K_master OTA.o + 0x08004730 0x00000400 Data RO 147 .rodata._ZZ24calculate_crc32_with_keyPKhS0_PhE9crc_table OTA.o + 0x08004b30 0x00000007 Data RO 292 .rodata.g_can_fdlength_table gd32c10x_can.o + 0x08004b37 0x00000100 Data RO 49 .rodata.inv_sbox aes128.o + 0x08004c37 0x00000001 PAD + 0x08004c38 0x00000020 Data RO 1923 Region$$Table anon$$obj.o Execution Region RW_NOINIT (Base: 0x20000000, Size: 0x00000000, Max: 0x00007200, ABSOLUTE, UNINIT) @@ -171,32 +176,36 @@ Memory Map of the image **** No section assigned to this execution region **** - Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a68, Max: 0x00007200, ABSOLUTE) + Execution Region RW_RAM0 (Base: 0x20000000, Size: 0x00000a78, Max: 0x00007200, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x20000000 0x00000004 Data RW 1484 .data mc_w.l(stdout.o) - 0x20000004 0x000000e8 Data RW 175 .data.CAN0_transmiter Can.o - 0x200000ec 0x00000004 Data RW 892 .data.SystemCoreClock system_gd32c10x.o - 0x200000f0 0x00000004 Data RW 1332 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) + 0x20000000 0x00000004 Data RW 1494 .data mc_w.l(stdout.o) + 0x20000004 0x000000e8 Data RW 185 .data.CAN0_transmiter Can.o + 0x200000ec 0x00000004 Data RW 902 .data.SystemCoreClock system_gd32c10x.o + 0x200000f0 0x00000004 Data RW 1342 .data.__cxa_terminate_handler libcppabi_wx.l(cxa_default_handlers.cpp.o) 0x200000f4 0x00000004 PAD 0x200000f8 0x00000004 Zero RW 72 .bss._ZL5delay systick.o - 0x200000fc 0x0000000c Zero RW 1341 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) - 0x20000108 0x00000001 Zero RW 134 .bss._ZZN10OTAHandler7processEvE4zero OTA.o + 0x200000fc 0x0000000c Zero RW 1351 .bss._ZN10__cxxabiv1L10eh_globalsE libcppabi_wx.l(cxa_exception_storage.cpp.o) + 0x20000108 0x00000001 Zero RW 144 .bss._ZZN10OTAHandler7processEvE4zero OTA.o 0x20000109 0x00000007 PAD - 0x20000110 0x00000008 Zero RW 178 .bss.can_rx_buffer Can.o - 0x20000118 0x00000008 Zero RW 179 .bss.can_tx_buffer Can.o - 0x20000120 0x0000001c Zero RW 176 .bss.dma_rx_parameter Can.o - 0x2000013c 0x0000001c Zero RW 177 .bss.dma_tx_parameter Can.o - 0x20000158 0x00000110 Zero RW 133 .bss.ota OTA.o - 0x20000268 0x00000800 Zero RW 877 STACK startup_gd32c10x.o + 0x20000110 0x00000008 Zero RW 188 .bss.can_rx_buffer Can.o + 0x20000118 0x00000008 Zero RW 189 .bss.can_tx_buffer Can.o + 0x20000120 0x0000001c Zero RW 186 .bss.dma_rx_parameter Can.o + 0x2000013c 0x0000001c Zero RW 187 .bss.dma_tx_parameter Can.o + 0x20000158 0x00000110 Zero RW 143 .bss.ota OTA.o + 0x20000268 0x00000004 Zero RW 660 .bss.pmu_to_deepsleepmode.reg_snap.0 gd32c10x_pmu.o + 0x2000026c 0x00000004 Zero RW 661 .bss.pmu_to_deepsleepmode.reg_snap.1 gd32c10x_pmu.o + 0x20000270 0x00000004 Zero RW 662 .bss.pmu_to_deepsleepmode.reg_snap.2 gd32c10x_pmu.o + 0x20000274 0x00000004 Zero RW 663 .bss.pmu_to_deepsleepmode.reg_snap.3 gd32c10x_pmu.o + 0x20000278 0x00000800 Zero RW 887 STACK startup_gd32c10x.o - Execution Region ARM_LIB_HEAP (Base: 0x20000a68, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) + Execution Region ARM_LIB_HEAP (Base: 0x20000a78, Size: 0x00000c00, Max: 0x00000c00, ABSOLUTE) Base Addr Size Type Attr Idx E Section Name Object - 0x20000a68 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o + 0x20000a78 0x00000c00 Zero RW 1 ARM_LIB_HEAP.bss anon$$obj.o Execution Region ARM_LIB_STACK (Base: 0x20007e00, Size: 0x00000200, Max: 0x00000200, ABSOLUTE) diff --git a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex index ea4496b..827b015 100644 --- a/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex +++ b/out/Robot_V2/GD32C103CB/Release/Robot_V2.hex @@ -1,5 +1,5 @@ :020000040800F2 -:10000000680A0020650100086D0100086F01000802 +:10000000780A0020650100086D0100086F010008F2 :10001000710100087301000875010008000000006C :100020000000000000000000000000007701000850 :1000300079010008000000007B0100087D01000834 @@ -8,7 +8,7 @@ :100060008101000881010008810100088101000868 :10007000810100088101000881010008C102000817 :100080000D030008810100088101000881010008BA -:100090002502000881010008810100088101000893 +:1000900025020008810100088101000835030008DD :1000A0008101000881010008810100088101000828 :1000B0008101000881010008810100088101000818 :1000C0008101000881010008810100088101000808 @@ -20,10 +20,10 @@ :1001200081010008810100088101000881010008A7 :1001300081010008000000000000000081010008AB :100140008101000881010008810100088101000887 -:10015000DFF80CD000F04EF800480047DD3E000804 +:10015000DFF80CD000F04EF80048004739430008A3 :10016000008000200748804707480047FEE7FEE779 :10017000FEE7FEE7FEE7FEE7FEE7FEE7034800478F -:10018000FEE7000035030008510100081936000899 +:10018000FEE70000A10400085101000859390008E9 :1001900040EA01039B0703D009E008C9121F08C009 :1001A000042AFAD203E011F8013B00F8013B521E89 :1001B000F9D27047D2B201E000F8012B491EFBD200 @@ -32,1159 +32,1209 @@ :1001E00000E05B1C934203D2E05CCD5C401BF8D086 :1001F00030BD70471CB5094800900948019005467C 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