fix CI compile

.gitea/workflows/build.yaml

@@ -8,7 +8,7 @@ jobs:
     steps:
 
       - name: Install dependencies
-        run: apt-get update && apt-get install -y gcc-arm-none-eabi binutils-arm-none-eabi ninja-build cmake protobuf-compiler python3 python3-grpcio python3-protobuf python3-pkg-resources
+        run: apt-get update && apt-get install -y gcc-arm-none-eabi binutils-arm-none-eabi ninja-build cmake protobuf-compiler python3 python3-grpcio python3-protobuf python3-pkg-resources python3-requests 
         # run: pip install setuptools
       - name: Check out repository code
         uses: actions/checkout@v4
@@ -31,4 +31,9 @@ jobs:
           name: firmware
           path: |
             build/*.hex
-            build/*.bin
+            build/*.bin
+      
+      - name: Upload Firmware
+        env:
+          SERVER_KEY: ${{ secrets.SERVER_KEY }}
+        run: python3 tools/upload_firmware.py $SERVER_KEY

.vscode/launch.json

@@ -44,6 +44,33 @@
             //"armToolchainPath": "c:\\ST\\STM32CubeIDE_1.7.0\\STM32CubeIDE\\plugins\\com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.9-2020-q2-update.win32_2.0.0.202105311346\\tools\\bin",
             //"stm32cubeprogrammer": "c:\\Program Files\\STMicroelectronics\\STM32Cube\\STM32CubeProgrammer\\bin",
 
+            /* If you use external loader, add additional arguments */
+            //"serverArgs": ["--extload", "path/to/ext/loader.stldr"],
+        },
+        {
+            "name": "Attach Microcontroller - ST-Link",
+            "cwd": "${workspaceFolder}",
+            "type": "cortex-debug",
+            "executable": "${command:cmake.launchTargetPath}", //or fixed file path: build/stm32h735g-dk-led.elf
+            "request": "attach",                //Use "attach" to connect to target w/o elf download
+            "servertype": "stlink",
+            "device": "STM32H723VGT",                       //MCU used, ex. "STM32H735IG"
+            "interface": "swd",
+            "serialNumber": "002800223232511939353236",                 //Set ST-Link ID if you use multiple at the same time
+            "runToEntryPoint": "main",
+            "svdFile": "STM32H723.svd",      //Path to SVD file to see registers
+            "v1": false,
+            "showDevDebugOutput": "both",
+            "liveWatch": {
+                "enabled": true,
+                "samplesPerSecond": 4
+            }
+            /* Will get automatically detected if STM32CubeIDE is installed to default directory
+               or it can be manually provided if necessary.. */
+            //"serverpath": "c:\\ST\\STM32CubeIDE_1.7.0\\STM32CubeIDE\\plugins\\com.st.stm32cube.ide.mcu.externaltools.stlink-gdb-server.win32_2.0.100.202109301221\\tools\\bin\\ST-LINK_gdbserver.exe",
+            //"armToolchainPath": "c:\\ST\\STM32CubeIDE_1.7.0\\STM32CubeIDE\\plugins\\com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.9-2020-q2-update.win32_2.0.0.202105311346\\tools\\bin",
+            //"stm32cubeprogrammer": "c:\\Program Files\\STMicroelectronics\\STM32Cube\\STM32CubeProgrammer\\bin",
+
             /* If you use external loader, add additional arguments */
             //"serverArgs": ["--extload", "path/to/ext/loader.stldr"],
         }

Application/BSP/BSP_ADC.c

@@ -47,7 +47,7 @@ void BSP_ADC_Start()
 void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc)
 {
   /* Invalidate Data Cache to get the updated content of the SRAM on the first half of the ADC converted data buffer: 32 bytes */
-  SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[0], ADC_CONVERTED_DATA_BUFFER_SIZE);
+  //SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[0], ADC_CONVERTED_DATA_BUFFER_SIZE);
 }
 
 /**
@@ -58,7 +58,7 @@ void HAL_ADC_ConvHalfCpltCallback(ADC_HandleTypeDef* hadc)
 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc)
 {
    /* Invalidate Data Cache to get the updated content of the SRAM on the second half of the ADC converted data buffer: 32 bytes */
-  SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[ADC_CONVERTED_DATA_BUFFER_SIZE/2], ADC_CONVERTED_DATA_BUFFER_SIZE);
+  //SCB_InvalidateDCache_by_Addr((uint32_t *) &aADCxConvertedData[ADC_CONVERTED_DATA_BUFFER_SIZE/2], ADC_CONVERTED_DATA_BUFFER_SIZE);
 }
 
 

Application/BSP/BSP_POWER.c

@@ -10,12 +10,14 @@
 #include "cmsis_os2.h"
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
-
+#include "BSP_SDLogger.h"
 #define LPTIM_CLK 500     // Hz
 #define SLEEP_TICK_TIME 1  // seconds to wait
 #define STAY_AWAKE_TIME 60 // seconds to stay awake without K15
 
 
+bool CanDataTask_CarCanActive();
+
 
 // Start the sleep counter check
 void BSP_POWER_Init() {
@@ -52,6 +54,15 @@ void BSP_POWER_WakeUp() {
 */
 void BSP_POWER_EnterStandby() {
 
+    // if there is still communication on the CAN bus, we should not go to standby
+    // intstead we should reset the system, because the CAN bus would wake us up again
+    if (CanDataTask_CarCanActive()) {
+        NVIC_SystemReset();
+    }
+
+    // stop the sytem interrupts
+    __disable_irq();
+
     // We need to disable all Periperals to minimize parasitic currents
     HAL_I2C_DeInit(&hi2c1);
     HAL_I2C_MspDeInit(&hi2c1);
@@ -108,6 +119,13 @@ void BSP_POWER_EnterStandby() {
     /* Enter the Standby mode */
     HAL_PWR_EnterSTANDBYMode();
 
+    while (1)
+    {
+        // if we are here, something went wrong
+        NVIC_SystemReset();
+        Error_Handler();
+    }
+
 }
 
 uint32_t sec_without_k15 = 0;

Application/BSP/BSP_SDLogger.c

@@ -0,0 +1,110 @@
+#include "BSP_SDLogger.h"
+#include "fatfs.h"
+#include "ulog.h"
+#include "stdio.h"
+#include "string.h"
+
+uint8_t block_buffer[512] = {0};
+size_t block_buffer_index = 0;
+char file_name[20];
+
+char ulog_buffer[ULOG_MAX_MESSAGE_LENGTH] = {0};
+
+void BSP_SDLogger_ULOG(ulog_level_t level, char *msg) {
+    uint32_t send_length =  snprintf(ulog_buffer, ULOG_MAX_MESSAGE_LENGTH, "[%s] %s\n", ulog_level_name(level), msg);
+    BSP_SDLogger_Write(ulog_buffer, send_length);
+}
+
+#include "cmsis_os2.h"
+
+// Define the mutex
+osMutexId_t logger_mutex;
+
+// init the logger buffer and the file
+// filename is generated based on the log number
+void BSP_SDLogger_Init(int log_number) {
+
+    // create the file name
+    sprintf(file_name, "log_%d.txt", log_number);
+
+    // open the file
+    FIL file;
+    FRESULT res = f_open(&file, file_name, FA_CREATE_ALWAYS | FA_WRITE);
+    if (res != FR_OK) {
+        ULOG_ERROR("Failed to open file %s", file_name);
+    }
+
+    //ULOG_SUBSCRIBE(BSP_SDLogger_ULOG, ULOG_DEBUG_LEVEL);
+
+    // close the file
+    f_close(&file);
+
+    // Create the mutex
+    logger_mutex = osMutexNew(NULL);
+}
+
+// this fuctions assumes you have the mutex
+void BSP_SDLogger_Flush_private() {
+    // open the file
+    FIL file;
+    FRESULT res = f_open(&file, file_name, FA_OPEN_APPEND | FA_WRITE );
+    if (res != FR_OK) {
+        ULOG_ERROR("Failed to open file %s", file_name);
+    }
+
+    // write the buffer to the file
+    UINT bytes_written;
+    res = f_write(&file, block_buffer, block_buffer_index, &bytes_written);
+    if (res != FR_OK) {
+        ULOG_ERROR("Failed to write to file %s", file_name);
+    }
+
+    // close the file
+    f_close(&file);
+
+    // reset the buffer index
+    block_buffer_index = 0;
+
+}
+
+
+void BSP_SDLogger_Flush() {
+    // Acquire the mutex
+    osMutexAcquire(logger_mutex, osWaitForever);
+
+    // flush the buffer
+    BSP_SDLogger_Flush_private();
+
+    // Release the mutex
+    osMutexRelease(logger_mutex);
+}
+
+// write data to the logger
+// data is only written to the buffer!
+// once the buffer is full, the data is written to the file
+void  BSP_SDLogger_Write(char *data, size_t length) {
+    // Acquire the mutex
+    osMutexAcquire(logger_mutex, osWaitForever);
+
+    size_t buffer_size = sizeof(block_buffer);
+    size_t remaining_size = buffer_size - block_buffer_index;
+
+    // if the data is larger than the remaining space in the buffer
+    if (length > remaining_size) {
+        // write the remaining space to the buffer
+        memcpy(&block_buffer[block_buffer_index], data, remaining_size);
+        block_buffer_index += remaining_size;
+        // write the buffer to the file
+        BSP_SDLogger_Flush_private();
+        // write the remaining data to the buffer
+        memcpy(&block_buffer[block_buffer_index], &data[remaining_size], length - remaining_size);
+        block_buffer_index = length - remaining_size;
+    } else {
+        // write the data to the buffer
+        memcpy(&block_buffer[block_buffer_index], data, length);
+        block_buffer_index += length;
+    }
+
+    // Release the mutex
+    osMutexRelease(logger_mutex);
+}

Application/BSP/BSP_SDLogger.h

@@ -1,4 +1,14 @@
 // SD logger steam is logged to sd card
 // buffernd logger collect logs until some amount of data is collected.
 // needs to be flushed before shutdown
-// used with ULOG 
+// used with ULOG
+
+#include <stdint.h>
+#include <stddef.h>
+
+void BSP_SDLogger_Init(int log_number);
+
+
+void BSP_SDLogger_Write(char *data, size_t length);
+
+void BSP_SDLogger_Flush();

Application/BSP/CMakeLists.txt

@@ -5,6 +5,7 @@ BSP_INA.c
 BSP_POWER.c
 BSP_GPIO.c
 BSP_ADC.c
+BSP_SDLogger.c
 )
 
 target_include_directories(BSP PUBLIC ./)

Application/CLS_BSP/CLS_BSP.c

@@ -1,4 +1,5 @@
 #include "CLS_BSP.h"
+#include "CLSAddress.h"
 
 
 #ifdef CLS_BSP_FDCAN
@@ -25,6 +26,31 @@ HAL_StatusTypeDef CLS_BSP_CAN_SetUniversalFilter(const CLS_BSP_CAN_UniversalFilt
 #endif
 
 
+uint8_t CLS_BSP_DLC_ToBytes(uint32_t dlc) {
+
+    switch (dlc) {
+        case CLS_BSP_DLC_BYTES_1:
+            return 1;
+        case CLS_BSP_DLC_BYTES_2:
+            return 2;
+        case CLS_BSP_DLC_BYTES_3:
+            return 3;
+        case CLS_BSP_DLC_BYTES_4:
+            return 4;
+        case CLS_BSP_DLC_BYTES_5:
+            return 5;
+        case CLS_BSP_DLC_BYTES_6:
+            return 6;
+        case CLS_BSP_DLC_BYTES_7:
+            return 7;
+        case CLS_BSP_DLC_BYTES_8:
+            return 8;
+        default:
+            return 0;
+    }
+
+}
+
 
 CLS_Type_t CLS_BSP_GetDeviceType(void) {
     return cls_device_Type_MASTER;
@@ -42,4 +68,9 @@ CLS_Position_t CLS_BSP_GetPosition(void) {
 }
 
 void CLS_BSP_SetPosition(CLS_Position_t position) {
-}
+}
+
+
+
+#include "BSP_GPIO.h"
+

Application/CLS_BSP/CLS_BSP.h

@@ -30,6 +30,9 @@ typedef FDCAN_TxHeaderTypeDef CLS_BSP_TxHeaderType;
 #define CLS_BSP_DLC_BYTES_7 FDCAN_DLC_BYTES_7
 #define CLS_BSP_DLC_BYTES_8 FDCAN_DLC_BYTES_8
 
+// function to convert DLC to bytes
+uint8_t CLS_BSP_DLC_ToBytes(uint32_t dlc);
+
 #define CLS_CAN_FILTER_DISABLE  FDCAN_FILTER_DISABLE
 #define CLS_CAN_FILTER_TO_RXFIFO0 FDCAN_FILTER_TO_RXFIFO0
 #define CLS_CAN_FILTER_TO_RXFIFO1 FDCAN_FILTER_TO_RXFIFO1

Application/CLS_BSP/CMakeLists.txt

@@ -12,4 +12,4 @@ target_sources(${PROJECT_NAME}
     )
 
 target_include_directories(${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_LIST_DIR})
-target_link_libraries(${PROJECT_NAME} PRIVATE CLS)
+target_link_libraries(${PROJECT_NAME} PRIVATE CLS BSP Vehicle)

Application/CMakeLists.txt

@@ -1,4 +1,6 @@
 add_subdirectory(Tasks)
 add_subdirectory(CLS)
 add_subdirectory(CLS_BSP)
-add_subdirectory(BSP)
+add_subdirectory(BSP)
+add_subdirectory(ram_loader)
+add_subdirectory(Vehicle)

Application/Tasks/CMakeLists.txt

@@ -22,4 +22,4 @@ target_sources(${PROJECT_NAME}
 
 target_include_directories(${PROJECT_NAME} INTERFACE ${CMAKE_CURRENT_LIST_DIR})
 target_link_libraries(${PROJECT_NAME} PUBLIC PROTOS CLS)
-target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog)
+target_link_libraries(${PROJECT_NAME} PRIVATE Revision CLS_BSP BSP ulog Vehicle ram_loader)

Application/Tasks/CanDataTask.c

@@ -9,6 +9,9 @@
 #include "usb.pb.h"
 #include "version_info.h"
 #include "ulog.h"
+#include "BSP_POWER.h"
+#include "BSP_GPIO.h"
+#include "Vehicle.h"
 // Define thread flags
 #define FLAG_FDCAN_RX_FIFO0  (1<<0)
 #define FLAG_FDCAN_RX_FIFO1  (1<<1)
@@ -31,7 +34,7 @@ const osThreadAttr_t CanDataTask_attr = {
 
 // Memory for the task
 StaticTask_t CarCanTask_cb;
-uint32_t CarCanTask_stk[256];
+uint32_t CarCanTask_stk[512];
 // Attributes for the task
 osThreadId_t CarCanTask_id;
 const osThreadAttr_t CarCanTask_attr = {
@@ -44,7 +47,7 @@ const osThreadAttr_t CarCanTask_attr = {
   .priority = osPriorityNormal,
 };
 
-
+static uint64_t last_car_message_time = 0;
 
 uint32_t dlcDecode(uint32_t dlcCode) {
     switch(dlcCode) {
@@ -128,7 +131,6 @@ void CanDataTask_func(void *argument) {
     }   
 }
 
-static uint64_t last_car_message_time = UINT64_MAX;
 
 // convert byte to 2 hex characters
 void byteToHex(uint8_t byte, char * hex) {
@@ -137,13 +139,22 @@ void byteToHex(uint8_t byte, char * hex) {
     hex[1] = hexLookup[byte & 0x0F];
 }
 
+
+static FDCAN_RxHeaderTypeDef RxHeader = {0};
+static uint8_t RxData[8] = {0};
+
 void CarCanTask_func(void *argument) {
 
     // for testing accept all messages from the car can bus
+    // put unkown messages in fifo 0
     if (HAL_FDCAN_ConfigGlobalFilter(&hfdcan2, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_ACCEPT_IN_RX_FIFO0, FDCAN_REJECT_REMOTE, FDCAN_REJECT_REMOTE) != HAL_OK) {
         Error_Handler();
     }
 
+
+    Vehicle_Setup_CAN();
+     
+
     /* Start the FDCAN module */
     if (HAL_FDCAN_Start(&hfdcan2) != HAL_OK){
         Error_Handler();
@@ -153,8 +164,7 @@ void CarCanTask_func(void *argument) {
         Error_Handler();
     }
 
-    FDCAN_RxHeaderTypeDef RxHeader;
-    uint8_t RxData[8];
+
 
     for(;;) {
         // wait for interrupt event on any fifo
@@ -166,7 +176,7 @@ void CarCanTask_func(void *argument) {
             } else {
                 
                 // do something with the can data
-                last_car_message_time = osKernelGetTickCount();
+                //last_car_message_time = osKernelGetTickCount();
                 char msg[17] = {0};
 
                 switch (RxHeader.DataLength)
@@ -230,7 +240,7 @@ void CarCanTask_func(void *argument) {
                     break;
                 }
 
-                ULOG_DEBUG("Car MSG: %x, %d %s", RxHeader.Identifier, RxHeader.DataLength, msg);
+                //ULOG_DEBUG("Car MSG: %x, %d %s", RxHeader.Identifier,CLS_BSP_DLC_ToBytes(RxHeader.DataLength) , msg);
 
             }
         }
@@ -239,9 +249,9 @@ void CarCanTask_func(void *argument) {
                 Error_Handler();
             } else {
 
-                // do something with the can data
-                last_car_message_time = osKernelGetTickCount();
+                Vehicle_Receive_CAN(RxHeader, RxData);
 
+                //ULOG_DEBUG("Used Car MSG: %x, %d %s", RxHeader.Identifier, CLS_BSP_DLC_ToBytes(RxHeader.DataLength), msg );
             }
         }
     }   
@@ -253,10 +263,18 @@ void CarCanTask_func(void *argument) {
  * @return true if a car can message has been received
  * @return false if no car can message has been received
  */
-bool CanDataTask_gotCarCanMessage() {
-    return last_car_message_time != UINT64_MAX;
+
+
+bool CanDataTask_CarCanActive() {
+    if (last_car_message_time == 0) {
+        return false;
+    }
+
+    return osKernelGetTickCount() - last_car_message_time < 1000;
 }
 
+
+
 void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs) {
     // Notify the thread
     if(hfdcan == &hfdcan1) {
@@ -264,8 +282,15 @@ void HAL_FDCAN_RxFifo0Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo0ITs)
     }
 
     if(hfdcan == &hfdcan2) {
-        osThreadFlagsSet(CarCanTask_id, FLAG_FDCAN_RX_FIFO0);
+        last_car_message_time = osKernelGetTickCount();
 
+        while (HAL_FDCAN_GetRxFifoFillLevel(&hfdcan2, FDCAN_RX_FIFO0) > 0 ) {
+            FDCAN_RxHeaderTypeDef RxHeader;
+            uint8_t RxData[8];
+            HAL_FDCAN_GetRxMessage(&hfdcan2, FDCAN_RX_FIFO0, &RxHeader, RxData);
+            //ignore the message for now
+        }
+        //osThreadFlagsSet(CarCanTask_id, FLAG_FDCAN_RX_FIFO0);
     }
 }
 
@@ -276,6 +301,7 @@ void HAL_FDCAN_RxFifo1Callback(FDCAN_HandleTypeDef *hfdcan, uint32_t RxFifo1ITs)
     }
 
     if(hfdcan == &hfdcan2) {
+        last_car_message_time = osKernelGetTickCount();
         osThreadFlagsSet(CarCanTask_id, FLAG_FDCAN_RX_FIFO1);
     }
 }

Application/Tasks/CanDataTask.h

@@ -1,6 +1,14 @@
 #pragma once
 
+#include "stdbool.h"
+
 void CanDataTask_start();
 
 
-bool CanDataTask_gotCarCanMessage();
+bool CanDataTask_gotCarCanMessage();
+
+bool CanDataTask_CarCanActive();
+
+uint8_t CanDataTask_CarCanBrightness();
+float CanDataTask_CarCanSpeed();
+int CanDataTask_CarCanDirectionIsForward(); 

Application/Tasks/FirmwareHandler.c

@@ -10,6 +10,9 @@
 #include "crc.h"
 #include "FirmwareUpdate.h"
 #include "stdbool.h"
+#include "CLS.h"
+#include "stdbool.h"
+#include "ram_loader.h"
 
 // static memory only for decoding messages
 static cls_firmware_Start msg_cls_firmware_Start;
@@ -58,19 +61,15 @@ void DataSend_FirmwareFileCheck(uint32_t crc, uint32_t device_id, bool ready_for
 #define CHUNK_SIZE 256  // Change this to the size of chunks you want to read
 static uint8_t crc_buffer[CHUNK_SIZE];
 
-void DataClbk_cls_firmware_Start(void *msg, uint32_t length) {
-  DATA_CLBK_SETUP(cls_firmware_Start);
-  fwStartTime = osKernelGetSysTimerCount();
-  fwPackageCounter = 0;
+
+void fw_Start_Slave( cls_firmware_Start * msg)  {
+
   uint32_t crc = 0;
   UINT totalRead = 0;
   UINT bytesRead = 0;
   
-  if(FileOpen) {
-    f_close(&FwFile);
-  }
   // Check if file already exists
-  if(f_open(&FwFile, msg_cls_firmware_Start.name, FA_READ) == FR_OK) {
+  if(f_open(&FwFile, msg->name, FA_READ) == FR_OK) {
 
     __HAL_CRC_DR_RESET(&hcrc);
     do {
@@ -80,16 +79,38 @@ void DataClbk_cls_firmware_Start(void *msg, uint32_t length) {
     } while(bytesRead == CHUNK_SIZE);
     f_close(&FwFile);
 
-    if(crc == msg_cls_firmware_Start.crc_fw) { 
+    if(crc == msg->crc_fw) { 
       // CRC matches, no need for transfer
-      DataSend_FirmwareFileCheck(crc, msg_cls_firmware_Start.device_id, false, totalRead, msg_cls_firmware_Start.name);
+      DataSend_FirmwareFileCheck(crc, msg->device_id, false, totalRead, msg->name);
       return;
     }
   }
 
-  fresult_open = f_open(&FwFile, msg_cls_firmware_Start.name, FA_CREATE_ALWAYS | FA_WRITE);
+  fresult_open = f_open(&FwFile, msg->name, FA_CREATE_ALWAYS | FA_WRITE);
   FileOpen=true;
-  DataSend_FirmwareFileCheck(crc, msg_cls_firmware_Start.device_id, fresult_open==FR_OK, totalRead, msg_cls_firmware_Start.name);
+  DataSend_FirmwareFileCheck(crc, msg->device_id, fresult_open==FR_OK, totalRead, msg->name);
+}
+
+void fw_Start_Master( cls_firmware_Start * msg) {
+  fresult_open = f_open(&FwFile, "firm.bin", FA_CREATE_ALWAYS | FA_WRITE);
+  FileOpen=true;
+  DataSend_FirmwareFileCheck(0, msg->device_id, fresult_open==FR_OK, 0, msg->name);
+}
+
+void DataClbk_cls_firmware_Start(void *msg, uint32_t length) {
+  DATA_CLBK_SETUP(cls_firmware_Start);
+  fwStartTime = osKernelGetSysTimerCount();
+  fwPackageCounter = 0;
+
+  if(FileOpen) {
+    f_close(&FwFile);
+  }
+
+  if(msg_cls_firmware_Start.device_id == gCLS_DEVICE_ADDRESS) {
+    fw_Start_Master(&msg_cls_firmware_Start);
+  } else {
+    fw_Start_Slave(&msg_cls_firmware_Start);
+  }
 }
 
 
@@ -133,10 +154,14 @@ void DataClbk_cls_firmware_Done(void *msg, uint32_t length) {
   fresult_open = 0xFF;
   FileOpen=false;
 
-  FirmwareUpdateArgs args;
-  args.device = msg_cls_firmware_Done.device_id;
-  memcpy(args.name, msg_cls_firmware_Start.name, sizeof(args.name));
+  if(msg_cls_firmware_Done.device_id == gCLS_DEVICE_ADDRESS) {
+    RamLoader_LoadApplication();
+  } else {
 
-  FirmwareUpdateTask_start(args);
-  
+    FirmwareUpdateArgs args;
+    args.device = msg_cls_firmware_Done.device_id;
+    memcpy(args.name, msg_cls_firmware_Start.name, sizeof(args.name));
+
+    FirmwareUpdateTask_start(args);
+  }
 }

Application/Tasks/FirmwareUpdate.c

@@ -160,7 +160,6 @@ void FirmwareUpdateTask_start(FirmwareUpdateArgs args) {
    }
 }
 
-UsbDataPacket buffer;
 void CLSFirmwareUpdateTask_func(void *argument) {
     FirmwareUpdateArgs args;
     osStatus_t status;

Application/Tasks/LightState.c

@@ -4,12 +4,14 @@
 #include "BSP_ADC.h"
 #include "LightTask.h"
 #include "ulog.h"
+#include "stdbool.h"
+#include "Vehicle.h"
 
 // Create the task with a specific priority and stack size
 osThreadAttr_t task_attr = {
     .name = "LightStateTask",
     .priority = osPriorityNormal,
-    .stack_size = 1024
+    .stack_size = 2048
 };
 
 // Function prototype for the task function
@@ -23,89 +25,15 @@ void LightStateTask_start(void)
 
 
 
-// Check if K15 is on for switching the light state
-static bool isK15On()
-{
-    return BSP_GPIO_K15isSet();
-}
-
-
-// Define the threshold voltage for engine running
-#define ENGINE_RUNNING_THRESHOLD 13.3 // 13.5V
-
-// Define thresholds with hysteresis
-#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.125)
-#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.125)
-
-// Global variable to store the current engine state
-static bool engineRunning = false;
-
-// Function to initialize the engine state based on the initial voltage
-static void initializeEngineState()
-{
-    float initialVoltage = BSP_ADC_ReadBusValue();
-    if (initialVoltage > ENGINE_RUNNING_THRESHOLD)
-    {
-        engineRunning = true;
-    }
-    else
-    {
-        engineRunning = false;
-    }
-}
-
-// Ensure the engine state is initialized once
-static bool isEngineInitialized = false;
-
-static bool isEngineRunning()
-{
-    if (!isEngineInitialized)
-    {
-        initializeEngineState();
-        isEngineInitialized = true;
-    }
-
-    float voltage = BSP_ADC_ReadBusValue();
-
-    if (engineRunning)
-    {
-        // If engine is currently running, use the lower threshold to turn it off
-        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
-        {
-            engineRunning = false;
-        }
-    }
-    else
-    {
-        // If engine is currently off, use the higher threshold to turn it on
-        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
-        {
-            engineRunning = true;
-        }
-
-
-
-    }
-    return engineRunning;
-}
-// check if the headlight is on and the engine is running to switch the light state
-// we can check the headlight using the GPIO functions
-static bool isHeadlightOn()
-{
-    return BSP_GPIO_HeadLightIsSet();
-}
-
-
-
 // Function to determine the next state of the light
 // return 1 as default state
 // return 2 if the engine is running
 // return 3 if the headlight and engine is running
 static int determineNextState()
 {
-    if (isHeadlightOn() && isEngineRunning()) {
+    if (Vehicle_isHeadlightOn() && Vehicle_isEngineRunning()) {
         return 2;
-    } else if (isEngineRunning()) {
+    } else if (Vehicle_isEngineRunning()) {
         return 1;
     } else {
         return 0;

Application/Tasks/LightTask.c

@@ -8,6 +8,10 @@
 #include "BSP_EE24.h"
 #include "LightTask.h"
 #include "CanDataHandler.h"
+#include "BSP_GPIO.h"
+
+#include "CanDataTask.h"
+#include "Vehicle.h"
 #include "BSP_ADC.h"
 #define DIMM_DEADZONE_VOLTAGE 0.7
 
@@ -76,22 +80,35 @@ void LightTask_func(void *argument) {
         // calculate the brightness to send
         uint8_t brightness = lightSettings.brightness;
         // Read ADC battery voltage and dimmer voltage
-        float v_bus = BSP_ADC_ReadBusValue() - DIMM_DEADZONE_VOLTAGE;
-        float v_dimm = BSP_ADC_ReadDimmerValue();
 
-        // calculate the dimmfactor based on the battery voltage and the dimmer voltage
-        // the dimmfactor shoudl be 0 if the dimmer voltage is 4V.
-        // the dimmfactor should be 1 if the dimmer voltage is the same as the battery voltage
-        float dimmfactor;
-        if (v_dimm >= v_bus) {
-            dimmfactor = 1.0;
-        } else if (v_dimm <= 4.0) {
-            dimmfactor = 0.0;
-        } else {
-            dimmfactor = (v_dimm - 4.0) / (v_bus - 4.0);
-        }
 
-        uint8_t adjustedBrightness = (uint8_t)(brightness * dimmfactor);
+
+        uint8_t dimm = 255;
+
+        // currenlty not working
+        // only dimm if the headlight is on
+        //if (Vehicle_isHeadlightOn()) {
+
+            // new version over CAN
+            //dimm  = Vehicle_Brightness();
+
+            // old version over ADC
+            // calculate the dimmfactor based on the battery voltage and the dimmer voltage
+            // the dimmfactor shoudl be 0 if the dimmer voltage is 4V.
+            // the dimmfactor should be 1 if the dimmer voltage is the same as the battery voltage
+            // float v_bus = BSP_ADC_ReadBusValue() - DIMM_DEADZONE_VOLTAGE;
+            // float v_dimm = BSP_ADC_ReadDimmerValue();
+            //if (v_dimm >= v_bus) {
+            //    dimmfactor = 1.0;
+            //} else if (v_dimm <= 4.0) {
+            //    dimmfactor = 0.0;
+            //} else {
+            //    dimmfactor = (v_dimm - 4.0) / (v_bus - 4.0);
+            //}
+
+        //}
+
+        uint8_t adjustedBrightness = (brightness * dimm)/ 255;
         lightSettings_dimmed.brightness = adjustedBrightness;
         lightSettings_dimmed.theme = lightSettings.theme;
         

Application/Tasks/UsbDataHandler.c

@@ -61,6 +61,7 @@ union {
   cls_light_ThemeSettings msg_cls_light_ThemeSettings;
   cls_light_SaveThemeSettings msg_cls_light_SaveThemeSettings;
   cls_light_RequestThemeSetting msg_cls_light_RequestThemeSetting;
+  cls_usb_JumpToBootloader msg_cls_usb_JumpToBootloader;
 
 } mem_msg_decode;
 
@@ -119,6 +120,7 @@ message_handler_t message_handlers[] = {
     MESSAGE_HANDLER(cls_usb_PackageType_LIGHT_SETTING_THEME, cls_light_ThemeSettings),
     MESSAGE_HANDLER(cls_usb_PackageType_LIGHT_SETTING_THEME_SAVE, cls_light_SaveThemeSettings),
     MESSAGE_HANDLER(cls_usb_PackageType_LIGHT_REQUEST_THEME, cls_light_RequestThemeSetting),
+    MESSAGE_HANDLER(cls_usb_PackageType_JUMP_TO_BOOTLOADER, cls_usb_JumpToBootloader),
 };
 
 

Application/Tasks/UsbDataHandler.h

@@ -122,6 +122,7 @@ void UsbDataHandler_Runner();
  */
 int UsbDataHandler_RxCallback(uint8_t* Buf, uint32_t Len);
 
+void DataClbk_cls_usb_JumpToBootloader(void* msg, uint32_t length);
 
 void DataClbk_cls_firmware_Start(void* msg, uint32_t length);
 void DataClbk_cls_firmware_Package(void* msg, uint32_t length);

Application/Vehicle/CMakeLists.txt

@@ -0,0 +1,32 @@
+# Set the minimum required CMake version
+cmake_minimum_required(VERSION 3.12)
+
+# Set the project name
+project(Vehicle)
+
+# Add the source files for the library
+set(SOURCES
+Vehicle.c
+Vehicle_can.c
+)
+
+# Add the header files for the library
+set(HEADERS
+    Vehicle.h
+)
+
+# Create the library target
+add_library(Vehicle ${SOURCES} ${HEADERS})
+
+# Set the include directories for the library
+target_include_directories(Vehicle PUBLIC ./)
+
+# Set any additional compiler flags or options
+# target_compile_options(Vehicle PRIVATE ...)
+
+# Set any additional linker flags or options
+# target_link_options(Vehicle PRIVATE ...)
+
+# Specify any dependencies for the library
+target_link_libraries(Vehicle BSP CLS CLS_BSP)
+

Application/Vehicle/Vehicle.c

@@ -0,0 +1,82 @@
+
+#include "Vehicle.h"
+#include "BSP_GPIO.h"
+#include "stdbool.h"
+#include "BSP_ADC.h"
+
+// Define the threshold voltage for engine running
+#define ENGINE_RUNNING_THRESHOLD 13.0 // 13.5V
+
+// Define thresholds with hysteresis
+#define ENGINE_RUNNING_THRESHOLD_HIGH (ENGINE_RUNNING_THRESHOLD + 0.225)
+#define ENGINE_RUNNING_THRESHOLD_LOW (ENGINE_RUNNING_THRESHOLD - 0.225)
+
+// Global variable to store the current engine state
+static bool engineRunning = false;
+
+
+void Vehicle_Init() {
+    engineRunning = false;
+}
+
+bool Vehicle_isHeadlightOn()
+{
+    return BSP_GPIO_HeadLightIsSet();
+}
+
+bool Vehicle_isEngineRunning() {
+
+
+    float voltage = BSP_ADC_ReadBusValue();
+
+    if (engineRunning)
+    {
+        // If engine is currently running, use the lower threshold to turn it off
+        if (voltage < ENGINE_RUNNING_THRESHOLD_LOW)
+        {
+            engineRunning = false;
+        }
+    }
+    else
+    {
+        // If engine is currently off, use the higher threshold to turn it on
+        if (voltage > ENGINE_RUNNING_THRESHOLD_HIGH)
+        {
+            engineRunning = true;
+        }
+
+
+
+    }
+    return engineRunning;
+}
+
+bool Vehicle_isK15On() {
+    return BSP_GPIO_K15isSet();
+}
+
+
+
+
+
+
+#include "CLS.h"
+#include "CLS_BSP.h"
+#include "CLSAddress.h"
+
+static CLS_VehicleStatus_t status = {0};
+_Static_assert(sizeof(status) == 8, "CLS_HeatbeatData_t is not 8 bytes");
+
+void CLS_VehicleHeatbeat(void *argument) {
+    CLS_BSP_TxHeaderType cls_vehicle_header = CREATE_BSP_CAN_HEADER(GENERATE_CLS_ADDRESS(CLS_CODE_STATUS,0,CLS_CH_STA_VEHICLE), CLS_BSP_DLC_BYTES_8);
+
+    
+    status.k15 = Vehicle_isK15On();
+    status.headlight = Vehicle_isHeadlightOn();
+    status.engine = Vehicle_isEngineRunning();
+    status.speed = (uint8_t)Vehicle_Speed();
+    status.unlocked = Vehicle_UnlockedSignal();
+
+    CLS_BSP_CAN_AddMessageToSend(&cls_vehicle_header, (uint8_t*)&status);
+
+}

Application/Vehicle/Vehicle.h

@@ -0,0 +1,24 @@
+
+#include "fdcan.h"
+#include "stdint.h"
+#include "stdbool.h"
+
+void Vehicle_Init();
+
+bool Vehicle_isHeadlightOn();
+
+bool Vehicle_isEngineRunning();
+
+bool Vehicle_isK15On();
+
+
+void Vehicle_Setup_CAN();
+
+void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef header, uint8_t* data);
+
+
+bool Vehicle_gotUnlockMessage();
+uint8_t Vehicle_Brightness();
+float Vehicle_Speed();
+int Vehicle_DirectionIsForward();
+bool Vehicle_UnlockedSignal();

Application/Vehicle/Vehicle_can.c

@@ -0,0 +1,146 @@
+#include "Vehicle.h"
+#include "fdcan.h"
+#include "CLS.h"
+#include "CLS_BSP.h"
+#include "BSP_GPIO.h"
+#include "cmsis_os2.h"
+
+static uint64_t last_unlock_message_time = UINT64_MAX;
+static uint8_t car_can_brightness = 255;
+static float car_can_speed = 0;
+static int car_can_direction = 0;
+
+
+void Vehicle_Setup_CAN() {
+
+
+    FDCAN_FilterTypeDef sFilterConfig;
+    sFilterConfig.IdType = FDCAN_STANDARD_ID;
+    sFilterConfig.FilterIndex = 0;
+    sFilterConfig.FilterType = CLS_BSP_CAN_FILTER_LIST;
+    sFilterConfig.FilterConfig = FDCAN_FILTER_TO_RXFIFO1;
+    sFilterConfig.FilterID1 = 0x391;
+    sFilterConfig.FilterID2 = 0x395;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
+    sFilterConfig.FilterIndex = 1;
+    sFilterConfig.FilterID1 = 0x351;
+    sFilterConfig.FilterID2 = 0x635;
+    HAL_FDCAN_ConfigFilter(&hfdcan2, &sFilterConfig);
+
+}
+
+
+static void rx_unlock_key(uint8_t * RxData ) {
+    if (RxData[1]  == 0x04)
+        {
+            // car was unlocked
+            last_unlock_message_time = osKernelGetTickCount();
+        } 
+        else if (RxData[1]  ==0x80)
+        {
+            // car was locked
+            if (!BSP_GPIO_K15isSet()) {
+                NVIC_SystemReset();
+            }
+        }
+
+}
+
+static void rx_unlock_secure(uint8_t * RxData ) {
+    if ((RxData[0] & 0x0F) == 0x01) {
+        // car was unlocked
+        last_unlock_message_time = osKernelGetTickCount();
+
+    } else if ((RxData[0] & 0x0F) == 0x02) {
+        // car was locked
+        if (!BSP_GPIO_K15isSet()) {
+            NVIC_SystemReset();
+        }
+    }
+
+
+}
+
+static void rx_speed(uint8_t *  RxData) {
+    // speed signal 
+    // AA BB XX YY 00 00 00 00 
+    // Speed (XX*(2^8)+(YY-1))/190
+    // direction AA = 0x00 forward, 0x02 backward
+    uint16_t speed = (RxData[2] << 8) + RxData[3];
+    float speed_kmh = (speed - 1) / 190.0;
+    car_can_speed = speed_kmh;
+    car_can_direction = RxData[0];
+    //ULOG_DEBUG("Speed: %f, Direction: %d", car_can_speed, car_can_direction);
+
+}
+
+static void rx_brightness(uint8_t* RxData) {
+    // scale the brightness to 0 - 255 only using integer math
+    car_can_brightness = ((uint32_t)RxData[0] * 255) / 100;
+    //ULOG_DEBUG("Brightness: %d", car_can_brightness);
+}
+
+void Vehicle_Receive_CAN( FDCAN_RxHeaderTypeDef RxHeader, uint8_t* RxData) {
+
+                if(RxHeader.Identifier == 0x391) {
+                    rx_unlock_key(RxData);
+                }
+
+                if (RxHeader.Identifier == 0x395) {
+                    rx_unlock_secure(RxData);
+                }
+
+
+                if (RxHeader.Identifier == 0x351) {
+                    rx_speed(RxData);
+                }
+
+                // brightness knob in 0 - 100
+                if (RxHeader.Identifier == 0x635) {
+                    rx_brightness(RxData);
+                }
+
+}
+
+
+
+bool Vehicle_gotUnlockMessage() {
+    return last_unlock_message_time != UINT64_MAX;
+}
+
+
+
+uint8_t Vehicle_Brightness() {
+    return car_can_brightness;
+}
+
+float Vehicle_Speed() {
+    return car_can_speed;
+}
+
+int Vehicle_DirectionIsForward() {
+    return car_can_direction == 0;
+}
+
+
+static bool unlocked = false;
+
+ 
+bool Vehicle_UnlockedSignal() {
+
+    if (unlocked) {
+        if(Vehicle_isK15On()) {
+            unlocked = false;
+            last_unlock_message_time = UINT64_MAX;
+        }
+    }
+
+    if (!unlocked) {
+        if (Vehicle_gotUnlockMessage()) {
+            unlocked = true;
+        }
+    }
+
+    return unlocked;
+}

Application/ram_loader/CMakeLists.txt

@@ -0,0 +1,34 @@
+# Set the minimum required CMake version
+cmake_minimum_required(VERSION 3.12)
+
+# Set the project name
+project(ram_loader)
+
+# Add the source files for the library
+set(SOURCES
+    ram_loader.c
+)
+
+# Add the header files for the library
+set(HEADERS
+    ram_loader.h
+)
+
+# Create the library target
+add_library(ram_loader ${SOURCES} ${HEADERS})
+
+# Set the include directories for the library
+target_include_directories(ram_loader PUBLIC ./)
+
+# Set any additional compiler flags or options
+# target_compile_options(${PROJECT_NAME} PRIVATE ...)
+
+# Set any additional linker flags or options
+# target_link_options(${PROJECT_NAME} PRIVATE ...)
+
+# Specify any dependencies for the library
+# target_link_libraries(${PROJECT_NAME} <dependency1> <dependency2> ...)
+
+# Optionally, add an executable target for testing
+# add_executable(test_ram_loader test/test_ram_loader.cpp)
+# target_link_libraries(test_ram_loader ${PROJECT_NAME})

Application/ram_loader/ram_loader.c

@@ -0,0 +1,110 @@
+#include "fatfs.h"
+#include "string.h"
+
+#define RAM_LOADER_BUFFER_SIZE 15*1024
+#define RAM_LOADER_ADDRESS 0x38000000
+#define APP_START_ADDRESS RAM_LOADER_ADDRESS
+uint8_t * ram_loader_buffer = (uint8_t *) RAM_LOADER_ADDRESS;
+
+void _app_start(void)
+{
+    __disable_irq();
+    // Reset USB
+
+    //De-init all peripherals
+    //HAL_ADC_DeInit(&hadc1);
+
+    // Disable Systick
+    SysTick->CTRL = 0;
+    SysTick->LOAD = 0;
+    SysTick->VAL = 0;
+
+    // Reset clock to default
+    HAL_RCC_DeInit();
+
+    // Clear all interrupt bits
+    for (uint8_t i = 0; i < sizeof(NVIC->ICER) / sizeof(NVIC->ICER[0]); i++)
+    {
+        NVIC->ICER[i] = 0xFFFFFFFF;
+        NVIC->ICPR[i] = 0xFFFFFFFF;
+    }
+
+    __enable_irq();
+
+
+    // set the vector table offset register
+    SCB->VTOR = APP_START_ADDRESS;
+
+    // get the application stack pointer
+    __set_MSP(((uint32_t *)APP_START_ADDRESS)[0]);
+
+
+    // jump to the application
+    ((void (*)(void))((uint32_t *)APP_START_ADDRESS)[1])();
+
+    // the application should never return
+    // ULOG_ERROR("Failed to start application");
+    while (1) {}
+
+}
+
+static uint8_t buffer[512];
+
+void RamLoader_LoadApplication()
+{
+
+    // check if the file "load.bin" exists
+    FIL file;
+    FRESULT res = f_open(&file, "load.bin", FA_READ);
+    if (res != FR_OK) {
+        // ULOG_ERROR("Failed to open file load.bin");
+        return;
+    }
+
+    UINT size =  f_size(&file);
+    // ensure the file is not larger than the buffer
+    if (size > RAM_LOADER_BUFFER_SIZE ) {
+        // ULOG_ERROR("File load.bin is too large");
+        return;
+    }
+
+    // read the file into the buffer
+    UINT bytes_read;
+    uint32_t remaining_bytes = size;
+    uint8_t *destination_ptr = ram_loader_buffer;
+    uint8_t *buffer_ptr = buffer;
+    while (remaining_bytes > 0) {
+        UINT read_size = remaining_bytes > 512 ? 512 : remaining_bytes;
+        res = f_read(&file, buffer_ptr, read_size, &bytes_read);
+        if (res != FR_OK) {
+            // ULOG_ERROR("Failed to read file load.bin");
+            return;
+        }
+        if (bytes_read != read_size) {
+            // ULOG_ERROR("Failed to read file load.bin completely");
+            return;
+        }
+
+        memcpy(destination_ptr, buffer_ptr, read_size);
+        remaining_bytes -= read_size;
+        destination_ptr += read_size;
+    }
+
+    // close the file
+    f_close(&file);
+
+
+    // check that the file to flash exists ("firm.bin")
+    res = f_open(&file, "firm.bin", FA_READ);
+    if (res != FR_OK) {
+        // ULOG_ERROR("Failed to open file firm.bin");
+        return;
+    }
+    //close the file
+    f_close(&file);
+
+
+    _app_start();
+
+
+}

Application/ram_loader/ram_loader.h

@@ -0,0 +1,3 @@
+#pragma once
+
+void RamLoader_LoadApplication();

CMakeLists.txt

@@ -140,7 +140,7 @@ add_subdirectory("Application")
 add_executable(${CMAKE_PROJECT_NAME})
 target_sources(${CMAKE_PROJECT_NAME} PUBLIC ${sources_SRCS})
 
-target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog)
+target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC Tasks CLS CLS_BSP BSP EE24 INA219 ulog ram_loader Vehicle)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC PROTOS)
 target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC uart_driver)
 #target_link_libraries(${CMAKE_PROJECT_NAME} PUBLIC lwrb)

Core/Src/freertos.c

@@ -39,6 +39,8 @@
 #include "LightState.h"
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
+#include "BSP_SDLogger.h"
+#include "Vehicle.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -71,7 +73,7 @@ const osThreadAttr_t defaultTask_attributes = {
 osThreadId_t waitForStartConfirmHandle;
 const osThreadAttr_t waitForStartConfirm_attributes = {
   .name = "waitForStartConfirm",
-  .stack_size = 256 * 4,
+  .stack_size = 512 * 4,
   .priority = (osPriority_t) osPriorityNormal,
 };
 
@@ -186,6 +188,8 @@ void StartDefaultTask(void *argument)
     ULOG_INFO(output);
   }
 
+  BSP_SDLogger_Init(counter);
+
   char  INA_LOG[72];
 
   /* Infinite loop */
@@ -233,7 +237,7 @@ void WaitForStartConfirm_Task(void *argument) {
   while(1) {
     osDelayUntil(tick);
     tick += delayTime;
-    if(BSP_GPIO_K15isSet() || CanDataTask_gotCarCanMessage()) {
+    if(BSP_GPIO_K15isSet() || Vehicle_gotUnlockMessage()) {
         BSP_POWER_FullPowerMode();
         ULOG_INFO("Power systems started");
         osThreadExit();
@@ -247,13 +251,13 @@ void WaitForStartConfirm_Task(void *argument) {
     }
 
     if(tick > maxDelayTime) {
-        BSP_POWER_EnterStandby();
-        ULOG_INFO("System in standby mode");
-        osThreadExit();
         while (1)
         {
-          osDelay(1000);
+          ULOG_INFO("System in standby mode");
+          BSP_POWER_EnterStandby();
+          NVIC_SystemReset();
         }
+        osThreadExit();
     }
   }
 }

Core/Src/main.c

@@ -41,6 +41,7 @@
 #include "BSP_POWER.h"
 #include "BSP_GPIO.h"
 #include "BSP_ADC.h"
+#include "ram_loader.h"
 /* USER CODE END Includes */
 
 /* Private typedef -----------------------------------------------------------*/
@@ -60,6 +61,7 @@
 
 /* Private variables ---------------------------------------------------------*/
 
+// define the magic number for the bootloader 8 bytes 
 /* USER CODE BEGIN PV */
 uint8_t gCLS_DEVICE_ADDRESS = 0x11;
 /* USER CODE END PV */
@@ -72,6 +74,7 @@ static void MPU_Config(void);
 void MX_FREERTOS_Init(void);
 /* USER CODE BEGIN PFP */
 void ULOG_SendLPUART(ulog_level_t level, char *msg);
+
 /* USER CODE END PFP */
 
 /* Private user code ---------------------------------------------------------*/
@@ -87,6 +90,7 @@ int main(void)
 {
   /* USER CODE BEGIN 1 */
 
+
   /* USER CODE END 1 */
 
   /* Enable I-Cache---------------------------------------------------------*/
@@ -285,6 +289,9 @@ void ULOG_SendLPUART(ulog_level_t level, char *msg) {
   HAL_UART_Transmit(&hlpuart1, (const uint8_t*)ulog_send_buffer, send_length,  LOG_TIMEOUT);
 }
 
+void DataClbk_cls_usb_JumpToBootloader(void* msg, uint32_t length) {
+  RamLoader_LoadApplication();
+}
 /* USER CODE END 4 */
 
 /* MPU Configuration */

Core/Src/stm32h7xx_it.c

@@ -99,6 +99,21 @@ void HardFault_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_HardFault_IRQn 0 */
+
+    HAL_GPIO_TogglePin(DIO12_L2_GPIO_Port, DIO12_L2_Pin);
+
+    for (size_t i = 0; i < 10000000; i++)
+    {
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+    }
+    
+
     /* USER CODE END W1_HardFault_IRQn 0 */
   }
 }
@@ -114,6 +129,18 @@ void MemManage_Handler(void)
   while (1)
   {
     /* USER CODE BEGIN W1_MemoryManagement_IRQn 0 */
+        HAL_GPIO_TogglePin(DIO12_L2_GPIO_Port, DIO12_L2_Pin);
+
+    for (size_t i = 0; i < 30000000; i++)
+    {
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+      __NOP();
+    }
     /* USER CODE END W1_MemoryManagement_IRQn 0 */
   }
 }

STM32H723VGTX_RAM.ld

@@ -43,8 +43,9 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-  RAM_EXEC (xrw)  : ORIGIN = 0x24000000, LENGTH = 320K
-  DTCMRAM  (xrw)  : ORIGIN = 0x20000000, LENGTH = 128K
+  RAM_EXEC (xrw)  : ORIGIN = 0x24000000, LENGTH = 319K
+  RAM_NOINIT(xrw) : ORIGIN = 0x2404fc00, LENGTH = 1K
+  DTCMRAM  (xrw)  : ORIGIN = 0x20000000, LENGTH = 127K
   ITCMRAM (xrw)   : ORIGIN = 0x00000000, LENGTH = 64K
   RAM_D2  (xrw)   : ORIGIN = 0x30000000, LENGTH = 32K
   RAM_D3  (xrw)   : ORIGIN = 0x38000000, LENGTH = 16K
@@ -161,6 +162,12 @@ SECTIONS
     . = ALIGN(8);
   } >DTCMRAM
 
+
+    .noinit :
+  {
+    KEEP(*(.noinitdata))
+  } >DTCMRAM2
+
   /* Remove information from the standard libraries */
   /DISCARD/ :
   {

tools/bootloader.py

@@ -0,0 +1,13 @@
+from usb_pb2 import PackageType, JumpToBootloader
+from vcp_driver import *
+
+if __name__ == "__main__":
+        ser = setup_connection()
+        # Create a message
+        request = JumpToBootloader()
+        request.magic = 0xdeadbeef
+        # Serialize the request to a bytearray
+        request_data = request.SerializeToString()
+
+        # Send the request
+        send_package(PackageType.JUMP_TO_BOOTLOADER, request_data, ser)

tools/send_fw.py

@@ -30,7 +30,7 @@ def make_header(typeid: PackageType, length: int) -> bytearray:
     struct_format = '<HHB'  # '<' for little-endian, 'H' for uint16_t, 'B' for uint8_t
     # Calculate the check byte as the sum of length and type
     typeidint = int(typeid) 
-    check = (length & 0xFF) + ((length >> 8) & 0xFF) + (typeidint & 0xFF) + ((typeidint >> 8) & 0xFF)
+    check = ((length & 0xFF) + ((length >> 8) & 0xFF) + (typeidint & 0xFF) + ((typeidint >> 8) & 0xFF) ) & 0xff
     packed_data = struct.pack(struct_format, length, typeid, check)
     return packed_data
 

tools/set_device_type.py

@@ -6,10 +6,10 @@ if __name__ == "__main__":
         ser = setup_connection()
         # Create a message
         request = UpdateDeviceSettings()
-        request.device = 1
-        request.type = Type.LIGHT
-        request.position.append(Position.RIGHT)
-        request.position.append(Position.FLOOR)
+        request.device = 0
+        request.type = Type.COMMING_HOME
+        request.position.append(Position.LEFT)
+        request.position.append(Position.CENTER)
         # Serialize the request to a bytearray
         request_data = request.SerializeToString()
 

tools/upload_firmware.py

@@ -0,0 +1,71 @@
+import hmac
+import hashlib
+import sys
+from pathlib import Path
+import requests
+import subprocess
+import base64
+
+def load_secret_key(keyb64: str):
+    # Decode the base64 encoded key
+    decoded_key = base64.b64decode(keyb64)
+
+    return decoded_key
+
+def compute_hmac(file_path, secret_key):
+    """Compute the HMAC of a file using HMAC-SHA256."""
+    hmac_obj = hmac.new(secret_key, digestmod=hashlib.sha256)
+    with open(file_path, 'rb') as f:
+        while chunk := f.read(4096):
+            hmac_obj.update(chunk)
+    return hmac_obj.hexdigest()
+
+def upload_file(url, file_path, secret_key):
+    """Upload a file to the server with an HMAC signature."""
+    # Compute HMAC of the file
+    signature = compute_hmac(file_path, secret_key)
+    print(signature)
+    # Prepare headers
+    headers = {'X-Signature': signature}
+    
+    # Read file and prepare files dictionary for request
+    with open(file_path, 'rb') as f:
+        files = {'file': (Path(file_path).name, f)}
+        response = requests.post(url, files=files, headers=headers)
+    
+    return response
+
+
+def get_short_git_commit_hash():
+    try:
+        # Run the Git command to get the short commit hash
+        result = subprocess.run(['git', 'rev-parse', '--short', 'HEAD'], stdout=subprocess.PIPE, stderr=subprocess.PIPE, text=True, check=True)
+        # Extract and return the commit hash
+        return result.stdout.strip()
+    except subprocess.CalledProcessError as e:
+        print(f"Error getting Git commit hash: {e}")
+        return None
+
+if __name__ == "__main__":
+    url = "https://fw.revwal.de/master/upload"  # Adjust this to your server's URL
+
+
+    fw_path = "build/CLS_Master.bin"  # Path to the file you want to upload
+    
+    # Get the Git commit hash
+    commit_hash = get_short_git_commit_hash()
+    if commit_hash is None:
+        print("Error: Could not get Git commit hash")
+        sys.exit(1)
+
+    # replace the file name with the commit hash
+    file_path = fw_path.replace("CLS_Master", commit_hash)
+
+    # copy the file to the new name
+    subprocess.run(['cp', fw_path, file_path])
+    
+    
+    secret_key = load_secret_key(sys.argv[1])
+    
+    response = upload_file(url, file_path, secret_key)
+    print(f"Server response: {response.text}")