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A system command that knows how to reflash the bootloader on the PX4FMU.
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px4dev
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42
apps/systemcmds/bl_update/Makefile
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apps/systemcmds/bl_update/Makefile
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############################################################################
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#
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# Copyright (C) 2012 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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#
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# Build the eeprom tool.
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#
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APPNAME = bl_update
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PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 4096
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include $(APPDIR)/mk/app.mk
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174
apps/systemcmds/bl_update/bl_update.c
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apps/systemcmds/bl_update/bl_update.c
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file bl_update.c
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*
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* STM32F4 bootloader update tool.
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*/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <stdbool.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/stat.h>
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#include <arch/board/board.h>
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#include "systemlib/systemlib.h"
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#include "systemlib/param/param.h"
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#include "systemlib/err.h"
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__EXPORT int bl_update_main(int argc, char *argv[]);
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int
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bl_update_main(int argc, char *argv[])
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{
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if (argc != 2)
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errx(1, "missing firmware filename");
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int fd = open(argv[1], O_RDONLY);
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if (fd < 0)
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err(1, "open %s", argv[1]);
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struct stat s;
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if (stat(argv[1], &s) < 0)
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err(1, "stat %s", argv[1]);
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/* sanity-check file size */
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if (s.st_size > 16384)
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errx(1, "%s: file too large", argv[1]);
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uint8_t *buf = malloc(s.st_size);
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if (buf == NULL)
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errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
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if (read(fd, buf, s.st_size) != s.st_size)
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err(1, "firmware read error");
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close(fd);
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uint32_t *hdr = (uint32_t *)buf;
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if ((hdr[0] < 0x20000000) || /* stack not below RAM */
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(hdr[0] > (0x20000000 + (128 * 1024))) || /* stack not above RAM */
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(hdr[1] < 0x08000000) || /* entrypoint not below flash */
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((hdr[1] - 0x08000000) > 16384)) { /* entrypoint not outside bootloader */
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free(buf);
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errx(1, "not a bootloader image");
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}
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warnx("image validated, erasing bootloader...");
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usleep(10000);
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/* prevent other tasks from running while we do this */
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sched_lock();
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/* unlock the control register */
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volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04;
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*keyr = 0x45670123U;
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*keyr = 0xcdef89abU;
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volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c;
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volatile uint32_t *cr = (volatile uint32_t *)0x40023c10;
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volatile uint8_t *base = (volatile uint8_t *)0x08000000;
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/* check the control register */
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if (*cr & 0x80000000) {
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warnx("WARNING: flash unlock failed, flash aborted");
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goto flash_end;
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}
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/* erase the bootloader sector */
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*cr = 0x2;
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*cr = 0x10002;
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/* wait for the operation to complete */
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while (*sr & 0x1000) {
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}
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if (*sr & 0xf2) {
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warnx("WARNING: erase error 0x%02x", *sr);
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goto flash_end;
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}
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/* verify the erase */
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for (int i = 0; i < s.st_size; i++) {
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if (base[i] != 0xff) {
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warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i);
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goto flash_end;
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}
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}
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warnx("flashing...");
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/* now program the bootloader - speed is not critical so use x8 mode */
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for (int i = 0; i < s.st_size; i++) {
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/* program a byte */
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*cr = 1;
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base[i] = buf[i];
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/* wait for the operation to complete */
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while (*sr & 0x1000) {
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}
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if (*sr & 0xf2) {
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warnx("WARNING: program error 0x%02x", *sr);
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goto flash_end;
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}
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}
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/* re-lock the flash control register */
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*cr = 0x80000000;
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warnx("verifying...");
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/* now run a verify pass */
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for (int i = 0; i < s.st_size; i++) {
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if (base[i] != buf[i]) {
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warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i);
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goto flash_end;
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}
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}
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warnx("bootloader update complete");
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flash_end:
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/* unlock the scheduler */
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sched_unlock();
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free(buf);
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exit(0);
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}
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