STM32G0系列单片机CAN升级功能进BOOT刷写数据的 C代码编写

以下是基于HAL库的STM32G0系列单片机CAN升级功能进BOOT刷写数据的C语言代码示例：

#include "stm32g0xx_hal.h"

#define CAN_TX_MSG_ID          0x321
#define CAN_RX_MSG_ID          0x123
#define CAN_DATA_BYTES         8
#define CAN_TIMEOUT            1000

#define FLASH_PAGE_SIZE        2048
#define BOOTLOADER_START_ADDR  0x08000000
#define APP_START_ADDR         0x08002000

/* Global variables */
CAN_HandleTypeDef hcan;
uint8_t can_rx_data[CAN_DATA_BYTES];
uint8_t can_tx_data[CAN_DATA_BYTES];

/* Function prototypes */
void SystemClock_Config(void);
static void MX_GPIO_Init(void);
static void MX_CAN_Init(void);
static void CAN_EnterBootloaderMode(void);
static void CAN_WriteFlash(uint32_t addr, uint8_t *data, uint16_t length);

int main(void)
{
  HAL_Init();
  SystemClock_Config();
  MX_GPIO_Init();
  MX_CAN_Init();

  /* Check if a firmware update is available */
  if (/* Check if update is available */)
  {
    /* Enter bootloader mode */
    CAN_EnterBootloaderMode();

    /* Write firmware to flash memory */
    CAN_WriteFlash(APP_START_ADDR, /* Firmware data */, /* Firmware length */);

    /* Reset the device */
    NVIC_SystemReset();
  }

  while (1)
  {
    /* Main loop */
  }
}

void CAN_EnterBootloaderMode(void)
{
  CAN_TxHeaderTypeDef tx_header;
  uint32_t tx_mailbox;

  /* Construct CAN message */
  tx_header.StdId = CAN_TX_MSG_ID;
  tx_header.RTR = CAN_RTR_DATA;
  tx_header.IDE = CAN_ID_STD;
  tx_header.DLC = 1;
  can_tx_data[0] = 0xAA;

  /* Send CAN message */
  HAL_CAN_AddTxMessage(&hcan, &tx_header, can_tx_data, &tx_mailbox);
  HAL_CAN_GetTxMailboxesFreeLevel(&hcan);

  /* Wait for CAN message from bootloader */
  HAL_CAN_GetRxMessage(&hcan, CAN_RX_FIFO0, &rx_header, can_rx_data);
  if ((rx_header.StdId == CAN_RX_MSG_ID) && (can_rx_data[0] == 0xCC))
  {
    /* Bootloader mode entered successfully */
  }
  else
  {
    /* Bootloader mode entry failed */
  }
}

void CAN_WriteFlash(uint32_t addr, uint8_t *data, uint16_t length)
{
  FLASH_EraseInitTypeDef erase_init;
  uint32_t page_error;

  /* Erase flash pages */
  erase_init.TypeErase = FLASH_TYPEERASE_PAGES;
  erase_init.PageAddress = APP_START_ADDR;
  erase_init.NbPages = ((length - 1) / FLASH_PAGE_SIZE) + 1;
  HAL_FLASH_Unlock();
  HAL_FLASHEx_Erase(&erase_init, &page_error);
  HAL_FLASH_Lock();

  /* Write data to flash */
  HAL_FLASH_Unlock();
  for (uint32_t i = 0; i < length; i++)
  {
    HAL_FLASH_Program(FLASH_TYPEPROGRAM_BYTE, addr + i, data[i]);
  }
  HAL_FLASH_Lock();
}

/* MX_GPIO_Init() and MX_CAN_Init() functions omitted for brevity */

以上代码中的 `CAN_EnterBootloaderMode()` 函数用于进入BOOTLOADER模式，该函数会向CAN总线发送一条消息，然后等待来自BOOTLOADER的响应消息，以确定是否成功进入BOOTLOADER模式。如果成功进入，则可以使用 `CAN_WriteFlash()` 函数将固件数据写入FLASH存储器。在写入完成后，使用 `NVIC_SystemReset()` 函数重置设备以启动新的固件。

需要注意的是，此示例代码仅供参考，具体实现可能因硬件、固件等因素而异。在实际使用时，应根据具体情况进行修改和优化。