A bootloader for in-field programming of MCUs via CAN bus.
See CANale for a tool to upload firmware to CANnuccia devices.
- STM32 microcontrollers with CAN via bxCAN.
Tested on the generic STM32F103C8T6 (ARM Cortex-M3) "blue pill" boards. - AVR microcontrollers with CAN via MCP25x CAN controllers.
Tested on ATMega328p paired with MCP25625.
Devices on a CANnuccia network have an 8-bit identifier (stored in the Data0 option byte on STM32 and on byte 0 of EEPROM on AVR).
CANnuccia starts on chip reset, reads this id, and sets CAN filters accordingly to listen for commands for the target device; see docs/CANnuccia.xlsx for more information on the protocol.
If no CANnuccia command is received within a timeout (or when a "programming done" command is received), CANnuccia terminates and jumps to the user program.
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CMake 3.14+
-
For STM32: GNU compiler toolchain for ARM (
arm-none-eabi) and a standard-compliant<stdint.h>header (available for instance from newlib) -
For AVR: GNU compiler toolchain for AVR and the avr-libc standard library
Create a build directory and generate build files via CMake, then compile the project.
You have to use one of the provided toolchain files (-DCMAKE_TOOLCHAIN_FILE=):
- For STM32:
src/stm32/STM32Toolchain.cmake - For AVR:
src/avr/AVRToolchain.cmake
Each toolchain file exposes target-specific configuration options to CMake.
- Simplicity and small footprint
- Written in C99
- Relies on a minimal amount of dependencies (basically just
<stdint.h>on STM32) - Simple but reliable protocol over CAN bus
- Thin abstraction over target hardware, designed for a minimal amount of work when porting to different platforms
- Complete isolation between the bootloader and the uploaded programs (and no RAM usage after the bootloader terminates)