【蓝牙串口无线烧写程序】适用于STM32F405RG的Bootloader

【下载链接】
链接：https://pan.baidu.com/s/1gCQ2ayH2OQz0bQBAciNJ4w
提取码：qljc

【使用说明】
（1）用ST-Link或JLink将Bootloader程序烧写到单片机中
（2）拔掉ST-Link或JLink调试器，复位单片机
（3）配置要烧写的程序的起始地址为0x8008000，程序区大小为“原大小－0x8000”，即0x100000-0x8000=0xf8000

（4）勾选“Create HEX file”

（5）打开STM32F4xx_HAL_Driver/system_stm32f4xx.c，取消USER_VECT_TAB_ADDRESS的注释，将VECT_TAB_OFFSET的值修改为0x8000

（6）编译程序，打开蓝牙串口无线烧写软件，选择生成的hex文件，将要烧写的程序烧写到子程序区

请注意：子程序里面必须要定时喂狗（IWDG），否则每隔10秒就会复位一次。

【Bootloader代码】

下载程序使用的串口为UART4，可以自行修改。

// 本程序用内部晶振(HSI)作为系统时钟, 没有用到外部晶振(HSE), 所以不需要指定HSE_VALUE的值
// 本程序已选择-O3优化。若要用ST-Link调试本程序, 请改选-O0优化
#include <stdio.h>
#include <stm32f4xx.h>
#include <string.h>
#include "common.h"
#include "DFU.h"// 若想要直接在Keil中下载并用ST-Link调试子程序, 则需要禁用CRC校验
#define START_ADDR 0x08004000 // 一定要保证这个地址不在DFU程序的地址范围中, 否则擦除Flash会直接Hard Error// 可以在项目属性中设置IROM1的Size, 限制主程序的大小, 防止主程序过大// 若主程序太大, 可以在C/C++选项卡中开启-O3优化减小主程序大小
#define RESERVED_SIZE 0x4000 // 请参考system_stm32xxx.c中描述的VECT_TAB_OFFSET的对齐方式// 里面有这样一句话: Vector Table base offset field. This value must be a multiple of 0xXXX.// 必须保证设置RESERVED_SIZE的值能被0xXXX整除, 并且在START_ADDR所在的Flash页上, RESERVED_SIZE能占满整页#define HARDWARE_CRC 0 // 启用硬件CRC校验
#define PROGRAM_ENABLE 1 // 是否真正烧写Flash (调试用)
#define PRINTF_ENABLE 1 // 是否开启调试输出
#define UART_FIFOCNT 35 // 数据缓冲区个数
#define UART_MTU 512 // 每个缓冲区的大小 (必须为4的倍数)#if UART_MTU % 4 != 0
#error "UART_MTU must be a multiple of 4"
#endifstatic int dfu_process_crc_config(const CRCConfig *config);
static int dfu_process_firmware_download(void);
static int dfu_start_transfer(void);DMA_HandleTypeDef hdma12, hdma14;
IWDG_HandleTypeDef hiwdg;
static const uint16_t flash_sectors[FLASH_SECTOR_TOTAL] = {16, 16, 16, 16, 64, 128, 128, 128, 128, 128, 128, 128}; // Flash各扇区的大小
static const uint32_t crc_disable __attribute((at(START_ADDR + 4))) = 0x54545454; // 默认禁用CRC, 这样ST-Link下载了主程序后能马上下载子程序
static uint8_t uart_data[UART_FIFOCNT][UART_MTU + 1];
static volatile uint8_t uart_front, uart_rear, uart_busy;
static volatile uint32_t uart_frontaddr, uart_rearaddr;
static DeviceResponse device_response;
static FirmwareInfo firmware_info;#if HARDWARE_CRC
// 注意: 不是所有的STM32单片机都能使用自定义CRC校验多项式
CRC_HandleTypeDef hcrc;static uint8_t calc_crc8(const void *data, int len)
{assert_param(HAL_CRC_GetState(&hcrc) == HAL_CRC_STATE_READY);return (uint8_t)HAL_CRC_Calculate(&hcrc, (uint32_t *)data, len);
}static void crc_init(void)
{__HAL_RCC_CRC_CLK_ENABLE();hcrc.Instance = CRC;hcrc.Init.CRCLength = CRC_POLYLENGTH_8B;hcrc.Init.DefaultInitValueUse = DEFAULT_INIT_VALUE_DISABLE;hcrc.Init.DefaultPolynomialUse = DEFAULT_POLYNOMIAL_DISABLE;hcrc.Init.GeneratingPolynomial = POLYNOMIAL_CRC8 & 0xff;hcrc.Init.InitValue = 0;hcrc.Init.InputDataInversionMode = CRC_INPUTDATA_INVERSION_NONE;hcrc.Init.OutputDataInversionMode = CRC_OUTPUTDATA_INVERSION_DISABLE;hcrc.InputDataFormat = CRC_INPUTDATA_FORMAT_BYTES;HAL_CRC_Init(&hcrc);
}
#else
static uint8_t calc_crc8(const void *data, int len)
{const uint8_t *p = data;int i, j;uint16_t temp = 0;if (len != 0)temp = p[0] << 8;for (i = 1; i <= len; i++){if (i != len)temp |= p[i];for (j = 0; j < 8; j++){if (temp & 0x8000)temp ^= POLYNOMIAL_CRC8 << 7;temp <<= 1;}}return temp >> 8;
}#define crc_init()
#endif// 请在这里配置串口收发所用的DMA通道
// 注意文件最后还有DMA中断的函数名也要改
static void dfu_dma_init(void)
{if (hdma12.Instance != NULL)return;__HAL_RCC_DMA1_CLK_ENABLE();hdma12.Instance = DMA1_Stream2;hdma12.Init.Channel = DMA_CHANNEL_4;hdma12.Init.Direction = DMA_PERIPH_TO_MEMORY; // 注意方向不要写反了(1)hdma12.Init.FIFOMode = DMA_FIFOMODE_DISABLE;hdma12.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;hdma12.Init.MemInc = DMA_MINC_ENABLE;hdma12.Init.Mode = DMA_NORMAL;hdma12.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;hdma12.Init.PeriphInc = DMA_PINC_DISABLE;hdma12.Init.Priority = DMA_PRIORITY_HIGH;HAL_DMA_Init(&hdma12);__HAL_LINKDMA(&huart4, hdmarx, hdma12); // 注意方向不要写反了(2)hdma14.Instance = DMA1_Stream4;hdma14.Init.Channel = DMA_CHANNEL_4;hdma14.Init.Direction = DMA_MEMORY_TO_PERIPH;hdma14.Init.FIFOMode = DMA_FIFOMODE_DISABLE;hdma14.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;hdma14.Init.MemInc = DMA_MINC_ENABLE;hdma14.Init.Mode = DMA_NORMAL;hdma14.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;hdma14.Init.PeriphInc = DMA_PINC_DISABLE;hdma14.Init.Priority = DMA_PRIORITY_HIGH;HAL_DMA_Init(&hdma14);__HAL_LINKDMA(&huart4, hdmatx, hdma14);
}static int dfu_process(void)
{int header_valid = 0;int i, j, len;uint8_t sync[16];uint32_t header;CRCConfig crccfg;// 发送成功进入DFU模式的回应memset(sync, 0xcd, sizeof(sync));HAL_UART_Transmit(&huart4, sync, sizeof(sync), HAL_MAX_DELAY);printf("Enter DFU mode!\n");// 接收请求信息i = 0;do{// 跳过冗余的0xab同步信号, 寻找头部字段HAL_IWDG_Refresh(&hiwdg);memset(uart_data[0], 0, UART_MTU);HAL_UART_Receive(&huart4, uart_data[0], UART_MTU, 1000);for (j = 0; j < UART_MTU; j++){if (uart_data[0][j] != 0xab)break;}len = UART_MTU - j;if (len >= 4){memcpy(&header, &uart_data[0][j], 4);switch (header){case HEADER_CRC_CONFIG:// CRC校验配置printf("header=HEADER_CRC_CONFIG\n");if (len >= sizeof(CRCConfig)){memcpy(&crccfg, &uart_data[0][j], sizeof(CRCConfig));if (calc_crc8(&crccfg, sizeof(CRCConfig)) == 0)header_valid = 1;}break;case HEADER_FIRMWARE_INFO:// 固件信息头printf("header=HEADER_FIRMWARE_INFO\n");if (len >= sizeof(FirmwareInfo)){memcpy(&firmware_info, &uart_data[0][j], sizeof(FirmwareInfo));if (calc_crc8(&firmware_info, sizeof(FirmwareInfo)) == 0)header_valid = 1;}break;default:printf("Invalid header: 0x%x\n", header);break;}printf("header_valid=%d\n", header_valid);}if (!header_valid){// 请求重传头部printf("Failed to receive header!\n");i++;if (i == 5)return -1;device_response.addr = 0xffffffff;device_response.size = 0xffffffff;device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit(&huart4, (uint8_t *)&device_response, sizeof(DeviceResponse), HAL_MAX_DELAY);}} while (!header_valid);// 处理请求switch (header){case HEADER_CRC_CONFIG:return dfu_process_crc_config(&crccfg);case HEADER_FIRMWARE_INFO:return dfu_process_firmware_download();default:return -1;}
}/* 处理CRC校验配置请求 */
static int dfu_process_crc_config(const CRCConfig *config)
{int i;uint8_t buffer[8];uint8_t *value = (uint8_t *)START_ADDR + 5;uint32_t addr;
#if PROGRAM_ENABLEuint32_t err;FLASH_EraseInitTypeDef erase;
#endifmemcpy(buffer, (void *)START_ADDR, sizeof(buffer));buffer[5] = (config->crc_enabled) ? 0x00 : 0x54;if (*value != buffer[5]){addr = FLASH_BASE;for (i = 0; i < _countof(flash_sectors); i++){addr += flash_sectors[i] * 1024;if (addr > START_ADDR)break;}#if PROGRAM_ENABLEHAL_FLASH_Unlock();erase.Banks = FLASH_BANK_1;erase.TypeErase = FLASH_TYPEERASE_SECTORS;erase.Sector = i;erase.NbSectors = 1;erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;HAL_FLASHEx_Erase(&erase, &err);HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, START_ADDR, __UNALIGNED_UINT32_READ(buffer));HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, START_ADDR + 4, __UNALIGNED_UINT32_READ(buffer + 4));HAL_FLASH_Lock();
#endif}device_response.addr = (uintptr_t)value;device_response.size = (memcmp((void *)START_ADDR, buffer, sizeof(buffer)) == 0);device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit(&huart4, (uint8_t *)&device_response, sizeof(device_response), HAL_MAX_DELAY);return 0;
}/* 处理固件下载请求 */
static int dfu_process_firmware_download(void)
{int ret;uint32_t err, ticks;uint32_t maxsize, size;HAL_StatusTypeDef status;
#if PROGRAM_ENABLEint i;uint32_t addr[3];FLASH_EraseInitTypeDef erase;
#endifmaxsize = (FLASH_BASE + FLASH_SIZE) - (START_ADDR + RESERVED_SIZE);printf("Available flash: %u\n", maxsize);printf("Size: %u\n", firmware_info.size);printf("Address: 0x%08x - 0x%08x\n", firmware_info.start_addr, firmware_info.end_addr - 1);printf("Entry Point: 0x%08x\n", firmware_info.entry_point);printf("Checksum: 0x%02x\n", firmware_info.firmware_checksum);if (firmware_info.size > maxsize){// Flash容量不够device_response.addr = 0;device_response.size = maxsize;device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit(&huart4, (uint8_t *)&device_response, sizeof(DeviceResponse), HAL_MAX_DELAY);return -1;}else if (firmware_info.start_addr != START_ADDR + RESERVED_SIZE){// 程序的起始地址不正确printf("Invalid firmware address!\n");device_response.addr = START_ADDR + RESERVED_SIZE;device_response.size = 0;device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit(&huart4, (uint8_t *)&device_response, sizeof(DeviceResponse), HAL_MAX_DELAY);return -1;}else if (firmware_info.start_addr + firmware_info.size != firmware_info.end_addr){printf("Incorrect firmware size!\n");return -1;}// 利用中断, 并行接收数据HAL_NVIC_EnableIRQ(DMA1_Stream2_IRQn);HAL_NVIC_EnableIRQ(DMA1_Stream4_IRQn);HAL_NVIC_EnableIRQ(UART4_IRQn);dfu_dma_init();uart_front = 0;uart_frontaddr = START_ADDR + RESERVED_SIZE;uart_rear = 0;uart_rearaddr = uart_frontaddr;dfu_start_transfer();#if PROGRAM_ENABLE// 擦除需要的Flash页HAL_IWDG_Refresh(&hiwdg);HAL_FLASH_Unlock();addr[0] = FLASH_BASE;addr[2] = firmware_info.end_addr - 1; // 子程序结束地址memset(&erase, 0xff, sizeof(FLASH_EraseInitTypeDef));for (i = 0; i < _countof(flash_sectors); i++){// i为扇区号, addr[0]为扇区i的起始地址, addr[1]为扇区i的结束地址addr[1] = addr[0] + flash_sectors[i] * 1024 - 1;if (START_ADDR >= addr[0] && START_ADDR <= addr[1])erase.Sector = i;if (addr[2] >= addr[0] && addr[2] <= addr[1]){erase.NbSectors = i - erase.Sector + 1;break;}addr[0] = addr[1] + 1;}erase.Banks = FLASH_BANK_1;erase.TypeErase = FLASH_TYPEERASE_SECTORS;erase.VoltageRange = FLASH_VOLTAGE_RANGE_3;printf("Erase sector %d~%d\n", erase.Sector, erase.Sector + erase.NbSectors - 1);HAL_FLASHEx_Erase(&erase, &err);// 将程序大小和CRC校验码保存到RESERVED区域, 并启用CRC校验HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, START_ADDR, firmware_info.size);HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, START_ADDR + 4, firmware_info.firmware_checksum);
#endifwhile (uart_frontaddr != firmware_info.end_addr){// 等待FIFO中有数据err = 0;ticks = HAL_GetTick();HAL_IWDG_Refresh(&hiwdg);while (uart_front == uart_rear){if (HAL_GetTick() - ticks > 3500){// 进入到这里面, 一般是因为传输过程中丢失了某些字节, 无法构成完整的数据包, DMA传输无法完成// (这不同于HAL_UART_RxCpltCallback里面的CRC错误, 只有收到了完整的数据包, 但CRC校验不通过, 才认定为CRC错误)// 也可能是因为用户取消了程序烧写HAL_IWDG_Refresh(&hiwdg);printf("Data timeout!\n");status = HAL_UART_Abort(&huart4); // 以阻塞方式强行中止中断或DMA方式的串口传输if (status == HAL_OK)uart_busy = 0; // 中止成功// 注意HAL_UART_Abort和HAL_UART_Abort_IT的区别// HAL_UART_Abort在函数返回时已经中止成功, 不会触发回调函数// HAL_UART_Abort_IT是以中断方式强行中止中断或DMA方式的串口传输// 函数返回时不一定已经中止完毕, 直到HAL_UART_AbortCpltCallback回调函数触发时, 才算中止完毕// 请求上位机重传数据包err++;if (err == 3)break; // 10秒还没有反应, 强行退出ticks = HAL_GetTick();dfu_start_transfer();}}if (uart_front == uart_rear)break;// 计算数据量maxsize = firmware_info.end_addr - uart_frontaddr;size = UART_MTU;if (size > maxsize)size = maxsize;// 烧写Flash// 注意: 当地址不能被4整除时, 不能用*(uint32_t *)//       应该用*(__packed uint32_t *), 即__UNALIGNED_UINT32_READ, 否则会导致Hard Error
#if PROGRAM_ENABLEHAL_IWDG_Refresh(&hiwdg);for (i = 0; i < size; i += 4)HAL_FLASH_Program(FLASH_TYPEPROGRAM_WORD, uart_frontaddr + i, __UNALIGNED_UINT32_READ(uart_data[uart_front] + i));
#endif// 释放FIFOuart_front = (uart_front + 1) % UART_FIFOCNT;uart_frontaddr += size;}// 结束请求assert_param(!uart_busy);HAL_IWDG_Refresh(&hiwdg);HAL_NVIC_DisableIRQ(DMA1_Stream2_IRQn);HAL_NVIC_DisableIRQ(DMA1_Stream4_IRQn);HAL_NVIC_DisableIRQ(UART4_IRQn);if (uart_frontaddr == firmware_info.end_addr){device_response.addr = uart_frontaddr;device_response.size = 0;device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit(&huart4, (uint8_t *)&device_response, sizeof(DeviceResponse), HAL_MAX_DELAY);ret = 0;}elseret = -1;#if PROGRAM_ENABLEHAL_FLASH_Lock();
#endifreturn ret;
}/* 请求主机传输固件数据 */
static int dfu_start_transfer(void)
{uint32_t maxsize;if (uart_busy)return -1;if (huart4.gState != HAL_UART_STATE_READY)return -1; // 如果UART Handle被锁, 则暂不启动传输, 稍后在TxCallback里面重试 (STM32H7就有这种问题)if ((uart_rear + 1) % UART_FIFOCNT == uart_front)return -1; // FIFO已满maxsize = firmware_info.end_addr - uart_rearaddr;if (maxsize == 0)return -1; // 固件已传输完毕HAL_IWDG_Refresh(&hiwdg);uart_busy = 1;device_response.addr = uart_rearaddr;device_response.size = UART_MTU;if (device_response.size > maxsize)device_response.size = maxsize;device_response.checksum = calc_crc8(&device_response, sizeof(DeviceResponse) - 1);HAL_UART_Transmit_DMA(&huart4, (uint8_t *)&device_response, sizeof(DeviceResponse));HAL_UART_Receive_DMA(&huart4, uart_data[uart_rear], device_response.size + 1);return 0;
}static int dfu_sync(void)
{int i;uint8_t sync[16];HAL_StatusTypeDef status;status = HAL_UART_Receive(&huart4, sync, sizeof(sync), 100);if (status == HAL_OK){for (i = 0; i < sizeof(sync); i++){if (sync[i] != 0xab)break;}if (i == sizeof(sync))return 0;}return -1;
}static void iwdg_init(void)
{
#ifdef __HAL_RCC_DBGMCU_CLK_ENABLE__HAL_RCC_DBGMCU_CLK_ENABLE();
#endif
#ifdef __HAL_DBGMCU_FREEZE_IWDG__HAL_DBGMCU_FREEZE_IWDG();
#endifhiwdg.Instance = IWDG;hiwdg.Init.Prescaler = IWDG_PRESCALER_128;hiwdg.Init.Reload = 2499; // 超时时间为(2499+1)*4ms=10s//hiwdg.Init.Window = 4095; // 有的STM32的IWDG有Window参数, 必须要设置HAL_IWDG_Init(&hiwdg);
}static int jump_to_application(void)
{static Runnable run;const uint8_t *crc = (const uint8_t *)(START_ADDR + 4);const uint32_t *size = (const uint32_t *)START_ADDR;uint32_t *addr = (uint32_t *)(START_ADDR + RESERVED_SIZE + 4);uint32_t *msp = (uint32_t *)(START_ADDR + RESERVED_SIZE);uint32_t value;if (*(crc + 1) == 0x54){// CRC校验已关闭printf("CRC check has been disabled!\n");}else{// 进行CRC校验if (START_ADDR + RESERVED_SIZE + *size > FLASH_BASE + FLASH_SIZE){printf("Program data error!\n");return -1;}value = calc_crc8((const uint8_t *)START_ADDR + RESERVED_SIZE, *size);if (*crc == value)printf("CRC passed! addr=0x%08x, msp=0x%08x\n", *addr, *msp);else{printf("CRC failed! 0x%02x!=0x%02x\n", *crc, value);return -1;}}if ((*msp & 0xf0000000) != 0x20000000 || (*addr & 0xff000000) != 0x08000000){printf("Program data error!\n");return -1;}printf("Jump to application...\n");run = (Runnable)*addr;HAL_DeInit(); // 关闭所有外设和中断, 防止子程序的运行受到主程序的影响 (很重要)// 一旦修改了栈顶指针, 就不能再使用函数中的局部变量, 否则可能会出现Hard Error错误// 但可以使用static变量, 所以run变量必须声明为static__set_MSP(*msp); // 修改栈顶指针run();return 0;
}int main(void)
{int dfu_cnt = 3; // DFU请求同步次数 (数值越大, 上位机检测到设备的成功率越高, 但开机后程序启动越慢)int ret;HAL_Init();iwdg_init();usart_init(115200);printf_enable(PRINTF_ENABLE);printf("STM32F405RG DFU\n");printf("SystemCoreClock=%u\n", SystemCoreClock);crc_init();while (1){while (dfu_cnt > 0){HAL_IWDG_Refresh(&hiwdg);dfu_cnt--;ret = dfu_sync(); // 接收主机的DFU请求if (ret == 0){// 成功进入DFU模式ret = dfu_process(); // DFU处理// 暂停, 等待上位机下发命令printf("Send any command to continue...\n");while (__HAL_UART_GET_FLAG(&huart4, UART_FLAG_RXNE) == RESET)HAL_IWDG_Refresh(&hiwdg);HAL_UART_Receive(&huart4, uart_data[0], 1, HAL_MAX_DELAY);if (ret == 0){dfu_cnt = 0; // 程序下载成功后, 启动程序HAL_Delay(2000); // 延迟足够的时间, 保证即使是用有线串口, 也能在打开串口调试助手后看到第一行调试信息}elsedfu_cnt = 10; // 程序下载失败时, 不运行程序, 而是重新进入下载模式}}// 启动用户程序 (若启动成功, 则函数不返回)HAL_IWDG_Refresh(&hiwdg);jump_to_application();// 启动用户程序失败, 再次进入DFU模式HAL_Delay(250);dfu_cnt = 1;}
}void DMA1_Stream2_IRQHandler(void)
{HAL_DMA_IRQHandler(&hdma12);
}void DMA1_Stream4_IRQHandler(void)
{HAL_DMA_IRQHandler(&hdma14);
}void UART4_IRQHandler(void)
{HAL_UART_IRQHandler(&huart4);
}void HAL_UART_ErrorCallback(UART_HandleTypeDef *huart)
{if (huart->Instance == USART1)printf("USART1 error: 0x%x!\n", huart->ErrorCode);else if (huart->Instance == UART4)printf("UART4 error: 0x%x!\n", huart->ErrorCode);
}void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{uint8_t crc;// 进行CRC校验crc = calc_crc8(uart_data[uart_rear], device_response.size + 1);if (crc == 0){uart_rear = (uart_rear + 1) % UART_FIFOCNT; // 校验通过, 接收下一个数据包uart_rearaddr += device_response.size;}elseprintf("Data CRC failed!\n");uart_busy = 0;dfu_start_transfer();
}void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart)
{dfu_start_transfer();
}

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