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NuttX based PX4 bootloader

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stm32h7 booloader:Obey VBUS input

stm32h7 booloader:Fully deinit systic
This commit is contained in:
David Sidrane
2019-10-29 14:40:51 -07:00
committed by Lorenz Meier
parent 78944a70c3
commit 522ed2d99b
15 changed files with 2750 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cmake/px4_add_common_flags.cmake
+3
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@@ -171,6 +171,9 @@ function(px4_add_common_flags)
${PX4_BINARY_DIR}
${PX4_BINARY_DIR}/src/lib
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/bootloader
endif()
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
${PX4_SOURCE_DIR}/platforms/common/include
platforms/nuttx/CMakeLists.txt
+14 -1
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@@ -47,6 +47,16 @@ get_property(module_libraries GLOBAL PROPERTY PX4_MODULE_LIBRARIES)
add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)
set(nuttx_libs)
if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
set(SCRIPT_PREFIX ${PX4_BOARD_LABEL}_)
add_subdirectory(src/bootloader)
list(APPEND nuttx_libs
bootloader
bootloader_lib
drivers_board
)
endif()
list(APPEND nuttx_libs
nuttx_apps
nuttx_arch
@@ -94,7 +104,7 @@ target_link_libraries(px4 PRIVATE
-fno-exceptions
-fno-rtti
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/script.ld
-Wl,--script=${PX4_BINARY_DIR_CYG}/NuttX/nuttx-config/scripts/${SCRIPT_PREFIX}script.ld
-Wl,-Map=${PX4_CONFIG}.map
-Wl,--warn-common
-Wl,--gc-sections
@@ -205,6 +215,9 @@ if(NOT PX4_BUILD MATCHES "px4_io-v2")
elseif(CONFIG_ARCH_CHIP_STM32F777NI)
set(DEBUG_DEVICE "STM32F777NI")
set(DEBUG_SVD_FILE "STM32F7x7.svd")
elseif(CONFIG_ARCH_CHIP_STM32H743ZI)
set(DEBUG_DEVICE "STM32H743ZI")
set(DEBUG_SVD_FILE "STM32H7x3.svd")
endif()
file(GLOB_RECURSE DEBUG_SVD_FILE_PATH ${CMAKE_SOURCE_DIR}/../cmsis-svd/*/${DEBUG_SVD_FILE})
platforms/nuttx/src/bootloader/CMakeLists.txt
+40
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@@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_library(bootloader
bl.c
${PX4_CHIP}/main.c
)
add_subdirectory(lib)
add_dependencies(bootloader prebuild_targets)
platforms/nuttx/src/bootloader/bl.c
+1013
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platforms/nuttx/src/bootloader/bl.h
+130
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@@ -0,0 +1,130 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file bl.h
*
* Common bootloader definitions.
*/
#pragma once
/*****************************************************************************
* Generic bootloader functions.
*/
/* enum for whether bootloading via USB or USART */
enum {
NONE,
USART,
USB
};
/* board info forwarded from board-specific code to booloader */
struct boardinfo {
uint32_t board_type;
uint32_t board_rev;
uint32_t fw_size;
uint32_t systick_mhz; /* systick input clock */
} __attribute__((packed));
extern struct boardinfo board_info;
extern void jump_to_app(void);
extern void bootloader(unsigned timeout);
extern void delay(unsigned msec);
#define BL_WAIT_MAGIC 0x19710317 /* magic number in PWR regs to wait in bootloader */
/* generic timers */
#define NTIMERS 4
#define TIMER_BL_WAIT 0
#define TIMER_CIN 1
#define TIMER_LED 2
#define TIMER_DELAY 3
extern volatile unsigned timer[NTIMERS]; /* each timer decrements every millisecond if > 0 */
/* generic receive buffer for async reads */
extern void buf_put(uint8_t b);
extern int buf_get(void);
/*****************************************************************************
* Chip/board functions.
*/
/* LEDs */
#define LED_ACTIVITY 1
#define LED_BOOTLOADER 2
#ifdef BOOT_DELAY_ADDRESS
# define BOOT_DELAY_SIGNATURE1 0x92c2ecff
# define BOOT_DELAY_SIGNATURE2 0xc5057d5d
# define BOOT_DELAY_MAX 30
#endif
#define MAX_DES_LENGTH 20
#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
extern void led_on(unsigned led);
extern void led_off(unsigned led);
extern void led_toggle(unsigned led);
/* flash helpers from main_*.c */
extern void board_deinit(void);
extern uint32_t board_get_devices(void);
extern void clock_deinit(void);
extern uint32_t flash_func_sector_size(unsigned sector);
extern void flash_func_erase_sector(unsigned sector);
extern void flash_func_write_word(uint32_t address, uint32_t word);
extern uint32_t flash_func_read_word(uint32_t address);
extern uint32_t flash_func_read_otp(uint32_t address);
extern uint32_t flash_func_read_sn(uint32_t address);
extern void arch_flash_lock(void);
extern void arch_flash_unlock(void);
extern void arch_setvtor(uint32_t address);
void arch_systic_init(void);
void arch_systic_deinit(void);
extern uint32_t get_mcu_id(void);
int get_mcu_desc(int max, uint8_t *revstr);
extern int check_silicon(void);
/*****************************************************************************
* Interface in/output.
*/
extern void cinit(void *config, uint8_t interface);
extern void cfini(void);
extern int cin(uint32_t devices);
extern void cout(uint8_t *buf, unsigned len);
platforms/nuttx/src/bootloader/cdcacm.h
+46
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@@ -0,0 +1,46 @@
/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file cdcacm.h
*
* cdcacm bootloader definitions.
*/
#pragma once
extern void usb_cinit(void *config);
extern void usb_cfini(void);
extern int usb_cin(void);
extern void usb_cout(uint8_t *buf, unsigned len);
platforms/nuttx/src/bootloader/lib/CMakeLists.txt
+41
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@@ -0,0 +1,41 @@
############################################################################
#
# Copyright (c) 2019 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
add_library(bootloader_lib
systick.c
cdcacm.c
uart.c
flash_cache.c
)
add_dependencies(bootloader_lib prebuild_targets)
platforms/nuttx/src/bootloader/lib/cdcacm.c
+138
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@@ -0,0 +1,138 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "cdcacm.h"
#include <string.h>
#include<stdio.h>
#include<fcntl.h>
#include<termios.h>
#include <sys/types.h>
#include <sys/boardctl.h>
#include <stdio.h>
#include <stdlib.h>
#include <debug.h>
#include "cdcacm.h"
//#define SERIAL_TRACE
int g_usb_df = -1;
char *g_device = 0;
char *g_init = 0;
#if defined(SERIAL_TRACE)
int in = 0;
int out = 0;
char in_trace[254];
char out_trace[254];
#endif
void usb_cinit(void *config)
{
#if defined(SERIAL_TRACE)
in = 0;
out = 0;
memset(in_trace, 0, sizeof(in_trace));
memset(out_trace, 0, sizeof(out_trace));
#endif
g_init = strdup(config ? (char *) config : "");
char *pt = strtok((char *) g_init, ",");
if (pt != NULL) {
g_device = pt;
}
int fd = open(g_device, O_RDWR | O_NONBLOCK);
if (fd >= 0) {
g_usb_df = fd;
free(g_init);
}
}
void usb_cfini(void)
{
close(g_usb_df);
g_usb_df = -1;
}
int usb_cin(void)
{
int c = -1;
if (g_usb_df < 0) {
int fd = open(g_device, O_RDWR | O_NONBLOCK);
if (fd < 0) {
return c;
}
g_usb_df = fd;
free(g_init);
}
char b;
if (read(g_usb_df, &b, 1) == 1) {
c = b;
#if defined(SERIAL_TRACE)
in_trace[in] = b;
in++;
in &= 255;
#endif
}
return c;
}
void usb_cout(uint8_t *buf, unsigned len)
{
uint32_t timeout = 1000;
for (unsigned i = 0; i < len; i++) {
while (timeout) {
if (write(g_usb_df, &buf[i], 1) == 1) {
#if defined(SERIAL_TRACE)
out_trace[out] = buf[i];
out++;
out &= 255;
#endif
timeout = 1000;
break;
} else {
if (timeout-- == 0) {
return;
}
}
}
}
}
platforms/nuttx/src/bootloader/lib/flash_cache.c
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@@ -0,0 +1,159 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <string.h>
#include "flash_cache.h"
#include "hw_config.h"
#include <nuttx/progmem.h>
flash_cache_line_t flash_cache[FC_NUMBER_LINES];
static inline void fcl_reset(flash_cache_line_t *fcl)
{
memset(fcl, 0xff, sizeof(flash_cache_line_t));
}
inline void fc_reset(void)
{
for (unsigned w = 0; w < FC_NUMBER_LINES; w++) {
fcl_reset(&flash_cache[w]);
}
flash_cache[0].start_address = APP_LOAD_ADDRESS;
}
static inline flash_cache_line_t *fc_line_select(uint32_t address)
{
for (unsigned w = 0; w < FC_NUMBER_LINES; w++) {
if (flash_cache[w].start_address == (address & FC_ADDRESS_MASK)) {
return &flash_cache[w];
}
}
return NULL;
}
inline int fc_is_dirty(flash_cache_line_t *fl)
{
return fl->index != FC_CLEAN;
}
int fc_flush(flash_cache_line_t *fl)
{
size_t bytes = (fl->index + 1) * sizeof(fl->words[0]);
size_t rv = up_progmem_write(fl->start_address, fl->words, bytes);
if (rv == bytes) {
rv = 0;
}
return rv;
}
int fc_write(uint32_t address, uint32_t word)
{
flash_cache_line_t *fc = fc_line_select(address);
flash_cache_line_t *fc1 = &flash_cache[1];
uint32_t index = FC_ADDR2INDX(address);
int rv = 0;
if (fc == NULL && index == 0) {
fc = fc1;
fc->start_address = address;
}
if (fc) {
fc->words[index] = word;
// Are we back writing the first word?
if (fc == &flash_cache[0] && index == 0 && fc->index == 7) {
if (fc_is_dirty(fc1)) {
// write out last fragment of data
rv = fc_flush(fc1);
if (rv != 0) {
fcl_reset(fc1);
return -1;
}
}
rv = fc_flush(fc);
fcl_reset(fc);
return rv;
}
fc->index = index;
}
return rv;
}
uint32_t fc_read(uint32_t address)
{
// Assume a cache miss read from FLASH memory
uint32_t rv = *(uint32_t *) address;
flash_cache_line_t *fc = fc_line_select(address);
if (fc) {
// Cache hit retrieve word from cache
uint32_t index = FC_ADDR2INDX(address);
rv = fc->words[index];
// Reading the last word in cache (not first words)
if (fc != &flash_cache[0] && index == FC_LAST_WORD) {
if (fc_flush(fc)) {
rv ^= 0xffffffff;
} else {
fcl_reset(fc);
}
}
}
return rv;
}
platforms/nuttx/src/bootloader/lib/flash_cache.h
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@@ -0,0 +1,69 @@
/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
/* The modern flash controllers manage flash for ECC
* On the H7 there is a block size (256) bits
* This code translates between the bootloaders word read/write
* interface and the H7 need for block based writes.
*
* All writes* are buffered until 8 word can be written.
* Verification is made from the cache. On the verification of the
* 8th word all the wordfs in the the cache are written to flash.
* If the write fails the value returned for the last word is negated
* to ensure an error on verification.
*
* *writes to the first 8 words of flash at APP_LOAD_ADDRESS
* are buffered until the "first word" is written with the real value (not 0xffffffff)
*
*/
#define FC_NUMBER_LINES 2 // Number of cache lines.
#define FC_NUMBER_WORDS 8 // Number of words per cache line.
#define FC_LAST_WORD FC_NUMBER_WORDS-1 // The index of the last word in cache line.
#define FC_ADDRESS_MASK ~(sizeof(flash_cache[0].words)-1) // Cache tag from address
#define FC_ADDR2INDX(a) (((a) / sizeof(flash_cache[0].words[0])) % FC_NUMBER_WORDS) // index from address
#define FC_CLEAN ((uint32_t)-1) // Cache clean
// Cache line
typedef struct flash_cache_line_t {
uint32_t index; // Index of word written
uint32_t start_address; // cache tag (address in FLASH this is buffering)
uint32_t words[FC_NUMBER_WORDS]; // Buffered data
} flash_cache_line_t;
// Resets the cache - all lines flashed and cache_line[0] start_address == APP_LOAD_ADDRESS
void fc_reset(void);
// Cache operations
uint32_t fc_read(uint32_t address);
int fc_write(uint32_t address, uint32_t word);
platforms/nuttx/src/bootloader/lib/systick.c
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "up_arch.h"
#include "systick.h"
#include <nvic.h>
uint8_t systick_get_countflag(void)
{
return (getreg32(NVIC_SYSTICK_CTRL) & NVIC_SYSTICK_CTRL_COUNTFLAG) ? 1 : 0;
}
// See 2.2.3 SysTick external clock is not HCLK/8
uint32_t g_divisor = 1;
void systick_set_reload(uint32_t value)
{
putreg32((((value * g_divisor) << NVIC_SYSTICK_RELOAD_SHIFT) & NVIC_SYSTICK_RELOAD_MASK), NVIC_SYSTICK_RELOAD);
}
void systick_set_clocksource(uint8_t clocksource)
{
g_divisor = (clocksource == CLKSOURCE_EXTERNAL) ? 8 : 1;
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_CLKSOURCE, clocksource & NVIC_SYSTICK_CTRL_CLKSOURCE);
}
void systick_counter_enable(void)
{
modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_ENABLE);
}
void systick_counter_disable(void)
{
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_ENABLE, 0);
putreg32(0, NVIC_SYSTICK_CURRENT);
}
void systick_interrupt_enable(void)
{
modifyreg32(NVIC_SYSTICK_CTRL, 0, NVIC_SYSTICK_CTRL_TICKINT);
}
void systick_interrupt_disable(void)
{
modifyreg32(NVIC_SYSTICK_CTRL, NVIC_SYSTICK_CTRL_TICKINT, 0);
}
platforms/nuttx/src/bootloader/lib/systick.h
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/****************************************************************************
*
* Copyright (c) 2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#define CLKSOURCE_EXTERNAL 0
#define CLKSOURCE_PROCESOR NVIC_SYSTICK_CTRL_CLKSOURCE
uint8_t systick_get_countflag(void);
void systick_set_reload(uint32_t value);
void systick_set_clocksource(uint8_t clocksource);
void systick_counter_enable(void);
void systick_counter_disable(void);
void systick_interrupt_enable(void);
void systick_interrupt_disable(void);
platforms/nuttx/src/bootloader/lib/uart.c
+130
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include "uart.h"
#include <string.h>
#include<stdio.h>
#include<fcntl.h>
#include<termios.h>
//#define SERIAL_TRACE
int g_uart_df = -1;
#if defined(SERIAL_TRACE)
int in = 0;
int out = 0;
char in_trace[254];
char out_trace[254];
#endif
void uart_cinit(void *config)
{
char *init = strdup(config ? (char *) config : "");
char *pt = strtok((char *) init, ",");
char *device = "/dev/ttyS0";
int baud = 115200;
if (pt != NULL) {
device = pt;
pt = strtok(NULL, ",");
if (pt != NULL) {
baud = atol(pt);
}
}
int fd = open(device, O_RDWR | O_NONBLOCK);
if (fd >= 0) {
g_uart_df = fd;
struct termios t;
tcgetattr(g_uart_df, &t);
t.c_cflag &= ~(CSIZE | PARENB | CSTOPB);
t.c_cflag |= (CS8);
cfsetspeed(&t, baud);
tcsetattr(g_uart_df, TCSANOW, &t);
}
free(init);
}
void uart_cfini(void)
{
close(g_uart_df);
g_uart_df = -1;
}
int uart_cin(void)
{
int c = -1;
if (g_uart_df >= 0) {
char b;
if (read(g_uart_df, &b, 1) == 1) {
c = b;
#if defined(SERIAL_TRACE)
in_trace[in] = b;
in++;
in &= 255;
#endif
}
}
return c;
}
void uart_cout(uint8_t *buf, unsigned len)
{
uint32_t timeout = 1000;
for (unsigned i = 0; i < len; i++) {
while (timeout) {
if (write(g_uart_df, &buf[i], 1) == 1) {
#if defined(SERIAL_TRACE)
out_trace[out] = buf[i];
out++;
out &= 255;
#endif
timeout = 1000;
break;
} else {
if (timeout-- == 0) {
return;
}
}
}
}
}
platforms/nuttx/src/bootloader/stm32h7/main.c
+802
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platforms/nuttx/src/bootloader/uart.h
+45
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/****************************************************************************
*
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file uart.h
*
* UART bootloader definitions.
*/
#pragma once
extern void uart_cinit(void *config);
extern void uart_cfini(void);
extern int uart_cin(void);
extern void uart_cout(uint8_t *buf, unsigned len);