mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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bootloader: Move chip specific things under chip specific folders
- move systick.c under chip specific sources - move do_jump into chip specific main.c as arch_do_jump - wrap flash writes to "arch_flash_write" and implement in chip specific main.c - add bootloader TOC check - sync image_toc.h with the version currently in use with old bootloader Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
This commit is contained in:
Jukka Laitinen
committed by
David Sidrane
David Sidrane
parent
3e18fa12d6
commit
64d264b49a
@@ -0,0 +1,35 @@
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############################################################################
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#
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# Copyright (c) 2021 Technology Innovation Institute. 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
|
||||
# are met:
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||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
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||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
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# the documentation and/or other materials provided with the
|
||||
# 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
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# 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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add_subdirectory(${PX4_CHIP})
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@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2021 Technology Innovation Institute. All rights reserved.
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#
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# 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.
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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
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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||||
# 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
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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
|
||||
# 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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px4_add_library(arch_bootloader
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main.c
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systick.c
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)
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target_link_libraries(arch_bootloader
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PRIVATE
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bootloader_lib
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)
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@@ -0,0 +1,828 @@
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/*
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* STM32F7 board support for the bootloader.
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*
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*/
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#include <px4_platform_common/px4_config.h>
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#include <px4_defines.h>
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#include "hw_config.h"
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#include <stm32_pwr.h>
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#include <stm32_rtc.h>
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#include <stm32_rcc.h>
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#include <nvic.h>
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#include <nuttx/progmem.h>
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#include <lib/systick.h>
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#include <lib/flash_cache.h>
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#include "bl.h"
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#include "uart.h"
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#define MK_GPIO_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT))
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#define BOOTLOADER_RESERVATION_SIZE (128 * 1024)
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//STM DocID018909 Rev 8 Sect 38.18 and DocID026670 Rev 5 40.6.1 (MCU device ID code)
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# define REVID_MASK 0xFFFF0000
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# define DEVID_MASK 0xFFF
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/* magic numbers from reference manual */
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#define STM32_UNKNOWN 0
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#define STM32H74xx_75xx 0x450
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#define STM32F74xxx_75xxx 0x449
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typedef enum mcu_rev_e {
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MCU_REV_Z = 0x1001,
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MCU_REV_Y = 0x1003,
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MCU_REV_X = 0x2001,
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MCU_REV_V = 0x2003
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} mcu_rev_e;
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typedef struct mcu_des_t {
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uint16_t mcuid;
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const char *desc;
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char rev;
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} mcu_des_t;
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// The default CPU ID of STM32_UNKNOWN is 0 and is in offset 0
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// Before a rev is known it is set to ?
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// There for new silicon will result in STM32F4..,?
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mcu_des_t mcu_descriptions[] = {
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{ STM32_UNKNOWN, "STM32???????", '?'},
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{ STM32H74xx_75xx, "STM32H7[4|5]x", '?'},
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};
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typedef struct mcu_rev_t {
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mcu_rev_e revid;
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char rev;
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} mcu_rev_t;
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/*
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* This table is used to look look up the revision
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* of a given chip.
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*/
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const mcu_rev_t silicon_revs[] = {
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{MCU_REV_Y, 'Y'}, /* Revision Y */
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{MCU_REV_X, 'X'}, /* Revision X */
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{MCU_REV_V, 'V'}, /* Revision V */
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{MCU_REV_Z, 'Z'}, /* Revision Z */
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};
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#define APP_SIZE_MAX (BOARD_FLASH_SIZE - (BOOTLOADER_RESERVATION_SIZE + APP_RESERVATION_SIZE))
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/* context passed to cinit */
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#if INTERFACE_USART
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# define BOARD_INTERFACE_CONFIG_USART INTERFACE_USART_CONFIG
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#endif
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#if INTERFACE_USB
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# define BOARD_INTERFACE_CONFIG_USB INTERFACE_USB_CONFIG
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#endif
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/* board definition */
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struct boardinfo board_info = {
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.board_type = BOARD_TYPE,
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.board_rev = 0,
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.fw_size = 0,
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.systick_mhz = 480,
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};
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static void board_init(void);
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#define BOOT_RTC_SIGNATURE 0xb007b007
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#define BOOT_RTC_REG MMIO32(RTC_BASE + 0x50)
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/* State of an inserted USB cable */
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static bool usb_connected = false;
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static uint32_t board_get_rtc_signature(void)
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{
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/* enable the backup registers */
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stm32_pwr_initbkp(true);
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uint32_t result = getreg32(STM32_RTC_BK0R);
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/* disable the backup registers */
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stm32_pwr_initbkp(false);
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return result;
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}
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static void
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board_set_rtc_signature(uint32_t sig)
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{
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/* enable the backup registers */
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stm32_pwr_initbkp(true);
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putreg32(sig, STM32_RTC_BK0R);
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/* disable the backup registers */
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stm32_pwr_initbkp(false);
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}
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static bool board_test_force_pin(void)
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{
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#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
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/* two pins strapped together */
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volatile unsigned samples = 0;
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volatile unsigned vote = 0;
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for (volatile unsigned cycles = 0; cycles < 10; cycles++) {
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px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 1);
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for (unsigned count = 0; count < 20; count++) {
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if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) != 0) {
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vote++;
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}
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samples++;
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}
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px4_arch_gpiowrite(BOARD_FORCE_BL_PIN_OUT, 0);
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for (unsigned count = 0; count < 20; count++) {
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if (px4_arch_gpioread(BOARD_FORCE_BL_PIN_IN) == 0) {
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vote++;
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}
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samples++;
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}
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}
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/* the idea here is to reject wire-to-wire coupling, so require > 90% agreement */
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if ((vote * 100) > (samples * 90)) {
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return true;
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}
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#endif
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#if defined(BOARD_FORCE_BL_PIN)
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/* single pin pulled up or down */
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volatile unsigned samples = 0;
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volatile unsigned vote = 0;
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for (samples = 0; samples < 200; samples++) {
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if ((px4_arch_gpioread(BOARD_FORCE_BL_PIN) ? 1 : 0) == BOARD_FORCE_BL_STATE) {
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vote++;
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}
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}
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/* reject a little noise */
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if ((vote * 100) > (samples * 90)) {
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return true;
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}
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#endif
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return false;
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}
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#if INTERFACE_USART
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static bool board_test_usart_receiving_break(void)
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{
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#if !defined(SERIAL_BREAK_DETECT_DISABLED)
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/* (re)start the SysTick timer system */
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systick_interrupt_disable(); // Kill the interrupt if it is still active
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systick_counter_disable(); // Stop the timer
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systick_set_clocksource(CLKSOURCE_PROCESOR);
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/* Set the timer period to be half the bit rate
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*
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* Baud rate = 115200, therefore bit period = 8.68us
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* Half the bit rate = 4.34us
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* Set period to 4.34 microseconds (timer_period = timer_tick / timer_reset_frequency = 168MHz / (1/4.34us) = 729.12 ~= 729)
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*/
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systick_set_reload(729); /* 4.3us tick, magic number */
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systick_counter_enable(); // Start the timer
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uint8_t cnt_consecutive_low = 0;
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uint8_t cnt = 0;
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/* Loop for 3 transmission byte cycles and count the low and high bits. Sampled at a rate to be able to count each bit twice.
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*
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* One transmission byte is 10 bits (8 bytes of data + 1 start bit + 1 stop bit)
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* We sample at every half bit time, therefore 20 samples per transmission byte,
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* therefore 60 samples for 3 transmission bytes
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*/
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while (cnt < 60) {
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// Only read pin when SysTick timer is true
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if (systick_get_countflag() == 1) {
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if (gpio_get(BOARD_PORT_USART_RX, BOARD_PIN_RX) == 0) {
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cnt_consecutive_low++; // Increment the consecutive low counter
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} else {
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cnt_consecutive_low = 0; // Reset the consecutive low counter
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}
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cnt++;
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}
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// If 9 consecutive low bits were received break out of the loop
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if (cnt_consecutive_low >= 18) {
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break;
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}
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}
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systick_counter_disable(); // Stop the timer
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/*
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* If a break is detected, return true, else false
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*
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* Break is detected if line was low for 9 consecutive bits.
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*/
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if (cnt_consecutive_low >= 18) {
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return true;
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}
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#endif // !defined(SERIAL_BREAK_DETECT_DISABLED)
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return false;
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}
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#endif
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uint32_t
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board_get_devices(void)
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{
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uint32_t devices = BOOT_DEVICES_SELECTION;
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if (usb_connected) {
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devices &= BOOT_DEVICES_FILTER_ONUSB;
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}
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return devices;
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}
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static void
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board_init(void)
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{
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/* fix up the max firmware size, we have to read memory to get this */
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board_info.fw_size = APP_SIZE_MAX;
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#if defined(BOARD_POWER_PIN_OUT)
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/* Configure the Power pins */
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px4_arch_configgpio(BOARD_POWER_PIN_OUT);
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px4_arch_gpiowrite(BOARD_POWER_PIN_OUT, BOARD_POWER_ON);
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#endif
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#if INTERFACE_USB
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#if !defined(BOARD_USB_VBUS_SENSE_DISABLED)
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/* enable configured GPIO to sample VBUS */
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# if defined(USE_VBUS_PULL_DOWN)
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px4_arch_configgpio((GPIO_OTGFS_VBUS & GPIO_PUPD_MASK) | GPIO_PULLDOWN);
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# else
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px4_arch_configgpio((GPIO_OTGFS_VBUS & GPIO_PUPD_MASK) | GPIO_FLOAT);
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# endif
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#endif
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#endif
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#if INTERFACE_USART
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#endif
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#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
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/* configure the force BL pins */
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px4_arch_configgpio(BOARD_FORCE_BL_PIN_IN);
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px4_arch_configgpio(BOARD_FORCE_BL_PIN_OUT);
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#endif
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#if defined(BOARD_FORCE_BL_PIN)
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/* configure the force BL pins */
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px4_arch_configgpio(BOARD_FORCE_BL_PIN);
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#endif
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#if defined(BOARD_PIN_LED_ACTIVITY)
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/* Initialize LEDs */
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px4_arch_configgpio(BOARD_PIN_LED_ACTIVITY);
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#endif
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#if defined(BOARD_PIN_LED_BOOTLOADER)
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/* Initialize LEDs */
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px4_arch_configgpio(BOARD_PIN_LED_BOOTLOADER);
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#endif
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}
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void
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board_deinit(void)
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{
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#if INTERFACE_USART
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#endif
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#if INTERFACE_USB
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px4_arch_configgpio(MK_GPIO_INPUT(GPIO_OTGFS_VBUS));
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putreg32(RCC_AHB1RSTR_OTGFSRST, STM32_RCC_AHB1RSTR);
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#endif
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#if defined(BOARD_FORCE_BL_PIN_IN) && defined(BOARD_FORCE_BL_PIN_OUT)
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/* deinitialise the force BL pins */
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_IN));
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN_OUT));
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#endif
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#if defined(BOARD_FORCE_BL_PIN)
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/* deinitialise the force BL pin */
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_FORCE_BL_PIN));
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#endif
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#if defined(BOARD_POWER_PIN_OUT) && defined(BOARD_POWER_PIN_RELEASE)
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/* deinitialize the POWER pin - with the assumption the hold up time of
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* the voltage being bleed off by an inupt pin impedance will allow
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* enough time to boot the app
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*/
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_POWER_PIN_OUT));
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#endif
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#if defined(BOARD_PIN_LED_ACTIVITY)
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/* Initialize LEDs */
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_ACTIVITY));
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#endif
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#if defined(BOARD_PIN_LED_BOOTLOADER)
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/* Initialize LEDs */
|
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px4_arch_configgpio(MK_GPIO_INPUT(BOARD_PIN_LED_BOOTLOADER));
|
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#endif
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/* Clear any RSTR set above and disable the AHB peripheral clocks */
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putreg32(0, STM32_RCC_AHB1RSTR);
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putreg32(0, STM32_RCC_AHB1ENR);
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}
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inline void arch_systic_init(void)
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{
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/* (re)start the timer system */
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systick_set_clocksource(CLKSOURCE_PROCESOR);
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systick_set_reload(board_info.systick_mhz * 1000); /* 1ms tick, magic number */
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systick_interrupt_enable();
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systick_counter_enable();
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}
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inline void arch_systic_deinit(void)
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{
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/* kill the systick interrupt */
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systick_interrupt_disable();
|
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systick_counter_disable();
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systick_set_clocksource(CLKSOURCE_EXTERNAL);
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systick_set_reload(0); /* 1ms tick, magic number */
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}
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|
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/**
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* @brief Initializes the RCC clock configuration.
|
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*
|
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* @param clock_setup : The clock configuration to set
|
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*/
|
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static inline void
|
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clock_init(void)
|
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{
|
||||
// Done by Nuttx
|
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}
|
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|
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/**
|
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* @brief Resets the RCC clock configuration to the default reset state.
|
||||
* @note The default reset state of the clock configuration is given below:
|
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* - HSI ON and used as system clock source
|
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* - HSE, PLL and PLLI2S OFF
|
||||
* - AHB, APB1 and APB2 prescaler set to 1.
|
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* - CSS, MCO1 and MCO2 OFF
|
||||
* - All interrupts disabled
|
||||
* @note This function doesn't modify the configuration of the
|
||||
* - Peripheral clocks
|
||||
* - LSI, LSE and RTC clocks
|
||||
*/
|
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void
|
||||
clock_deinit(void)
|
||||
{
|
||||
uint32_t regval;
|
||||
|
||||
/* Enable internal high-speed oscillator. */
|
||||
|
||||
regval = getreg32(STM32_RCC_CR);
|
||||
regval |= RCC_CR_HSION;
|
||||
putreg32(regval, STM32_RCC_CR);
|
||||
|
||||
/* Check if the HSIRDY flag is the set in the CR */
|
||||
|
||||
while ((getreg32(STM32_RCC_CR) & RCC_CR_HSIRDY) == 0);
|
||||
|
||||
/* Reset the RCC_CFGR register */
|
||||
putreg32(0, STM32_RCC_CFGR);
|
||||
|
||||
/* Stop the HSE, CSS, PLL, PLLI2S, PLLSAI */
|
||||
regval = getreg32(STM32_RCC_CR);
|
||||
regval &= ~(RCC_CR_HSEON | RCC_CR_PLL1ON | RCC_CR_PLL2ON | RCC_CR_PLL3ON | RCC_CR_CSSHSEON);
|
||||
putreg32(regval, STM32_RCC_CR);
|
||||
|
||||
/* Reset the RCC_PLLCFGR register */
|
||||
putreg32(0x01FF0000, STM32_RCC_PLLCFGR);
|
||||
|
||||
/* Reset the HSEBYP bit */
|
||||
regval = getreg32(STM32_RCC_CR);
|
||||
regval &= ~(RCC_CR_HSEBYP);
|
||||
putreg32(regval, STM32_RCC_CR);
|
||||
|
||||
}
|
||||
|
||||
void arch_flash_lock(void)
|
||||
{
|
||||
stm32h7_flash_lock(STM32_FLASH_BANK1);
|
||||
stm32h7_flash_lock(STM32_FLASH_BANK2);
|
||||
}
|
||||
|
||||
void arch_flash_unlock(void)
|
||||
{
|
||||
fc_reset();
|
||||
stm32h7_flash_unlock(STM32_FLASH_BANK1);
|
||||
stm32h7_flash_unlock(STM32_FLASH_BANK2);
|
||||
}
|
||||
|
||||
ssize_t arch_flash_write(size_t address, const void *buffer, size_t buflen)
|
||||
{
|
||||
return up_progmem_write(address, buffer, buflen);
|
||||
}
|
||||
|
||||
inline void arch_setvtor(const uint32_t *address)
|
||||
{
|
||||
putreg32((uint32_t)address, NVIC_VECTAB);
|
||||
}
|
||||
|
||||
uint32_t
|
||||
flash_func_sector_size(unsigned sector)
|
||||
{
|
||||
if (sector <= BOARD_FLASH_SECTORS) {
|
||||
return 128 * 1024;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void
|
||||
flash_func_erase_sector(unsigned sector)
|
||||
{
|
||||
if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
|
||||
return;
|
||||
}
|
||||
|
||||
/* blank-check the sector */
|
||||
|
||||
bool blank = up_progmem_ispageerased(sector) == 0;
|
||||
|
||||
/* erase the sector if it failed the blank check */
|
||||
if (!blank) {
|
||||
up_progmem_eraseblock(sector);
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
flash_func_write_word(uint32_t address, uint32_t word)
|
||||
{
|
||||
address += APP_LOAD_ADDRESS;
|
||||
fc_write(address, word);
|
||||
}
|
||||
|
||||
uint32_t flash_func_read_word(uint32_t address)
|
||||
{
|
||||
|
||||
if (address & 3) {
|
||||
return 0;
|
||||
}
|
||||
|
||||
return fc_read(address + APP_LOAD_ADDRESS);
|
||||
|
||||
}
|
||||
|
||||
|
||||
uint32_t
|
||||
flash_func_read_otp(uint32_t address)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t get_mcu_id(void)
|
||||
{
|
||||
return *(uint32_t *)STM32_DEBUGMCU_BASE;
|
||||
}
|
||||
|
||||
int get_mcu_desc(int max, uint8_t *revstr)
|
||||
{
|
||||
uint32_t idcode = (*(uint32_t *) STM32_DEBUGMCU_BASE);
|
||||
int32_t mcuid = idcode & DEVID_MASK;
|
||||
mcu_rev_e revid = (idcode & REVID_MASK) >> 16;
|
||||
|
||||
mcu_des_t des = mcu_descriptions[STM32_UNKNOWN];
|
||||
|
||||
for (unsigned int i = 0; i < arraySize(mcu_descriptions); i++) {
|
||||
if (mcuid == mcu_descriptions[i].mcuid) {
|
||||
des = mcu_descriptions[i];
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
for (unsigned int i = 0; i < arraySize(silicon_revs); i++) {
|
||||
if (silicon_revs[i].revid == revid) {
|
||||
des.rev = silicon_revs[i].rev;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t *endp = &revstr[max - 1];
|
||||
uint8_t *strp = revstr;
|
||||
|
||||
while (strp < endp && *des.desc) {
|
||||
*strp++ = *des.desc++;
|
||||
}
|
||||
|
||||
if (strp < endp) {
|
||||
*strp++ = ',';
|
||||
}
|
||||
|
||||
if (strp < endp) {
|
||||
*strp++ = des.rev;
|
||||
}
|
||||
|
||||
return strp - revstr;
|
||||
}
|
||||
|
||||
|
||||
int check_silicon(void)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
|
||||
uint32_t
|
||||
flash_func_read_sn(uint32_t address)
|
||||
{
|
||||
// read a byte out from unique chip ID area
|
||||
// it's 12 bytes, or 3 words.
|
||||
return *(uint32_t *)(address + STM32_SYSMEM_UID);
|
||||
}
|
||||
|
||||
void
|
||||
led_on(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_ON);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_ON);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
led_off(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, BOARD_LED_OFF);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, BOARD_LED_OFF);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
void
|
||||
led_toggle(unsigned led)
|
||||
{
|
||||
switch (led) {
|
||||
case LED_ACTIVITY:
|
||||
#if defined(BOARD_PIN_LED_ACTIVITY)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_ACTIVITY, px4_arch_gpioread(BOARD_PIN_LED_ACTIVITY) ^ 1);
|
||||
#endif
|
||||
break;
|
||||
|
||||
case LED_BOOTLOADER:
|
||||
#if defined(BOARD_PIN_LED_BOOTLOADER)
|
||||
px4_arch_gpiowrite(BOARD_PIN_LED_BOOTLOADER, px4_arch_gpioread(BOARD_PIN_LED_BOOTLOADER) ^ 1);
|
||||
#endif
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* we should know this, but we don't */
|
||||
#ifndef SCB_CPACR
|
||||
# define SCB_CPACR (*((volatile uint32_t *) (((0xE000E000UL) + 0x0D00UL) + 0x088)))
|
||||
#endif
|
||||
|
||||
/* Make the actual jump to app */
|
||||
void
|
||||
arch_do_jump(const uint32_t *app_base)
|
||||
{
|
||||
/* extract the stack and entrypoint from the app vector table and go */
|
||||
uint32_t stacktop = app_base[0];
|
||||
uint32_t entrypoint = app_base[1];
|
||||
|
||||
asm volatile(
|
||||
"msr msp, %0 \n"
|
||||
"bx %1 \n"
|
||||
: : "r"(stacktop), "r"(entrypoint) :);
|
||||
|
||||
// just to keep noreturn happy
|
||||
for (;;) ;
|
||||
}
|
||||
|
||||
int
|
||||
bootloader_main(void)
|
||||
{
|
||||
bool try_boot = true; /* try booting before we drop to the bootloader */
|
||||
unsigned timeout = BOOTLOADER_DELAY; /* if nonzero, drop out of the bootloader after this time */
|
||||
|
||||
/* Enable the FPU before we hit any FP instructions */
|
||||
SCB_CPACR |= ((3UL << 10 * 2) | (3UL << 11 * 2)); /* set CP10 Full Access and set CP11 Full Access */
|
||||
|
||||
#if defined(BOARD_POWER_PIN_OUT)
|
||||
|
||||
/* Here we check for the app setting the POWER_DOWN_RTC_SIGNATURE
|
||||
* in this case, we reset the signature and wait to die
|
||||
*/
|
||||
if (board_get_rtc_signature() == POWER_DOWN_RTC_SIGNATURE) {
|
||||
board_set_rtc_signature(0);
|
||||
|
||||
while (1);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* do board-specific initialisation */
|
||||
board_init();
|
||||
|
||||
/* configure the clock for bootloader activity */
|
||||
clock_init();
|
||||
|
||||
/*
|
||||
* Check the force-bootloader register; if we find the signature there, don't
|
||||
* try booting.
|
||||
*/
|
||||
if (board_get_rtc_signature() == BOOT_RTC_SIGNATURE) {
|
||||
|
||||
/*
|
||||
* Don't even try to boot before dropping to the bootloader.
|
||||
*/
|
||||
try_boot = false;
|
||||
|
||||
/*
|
||||
* Don't drop out of the bootloader until something has been uploaded.
|
||||
*/
|
||||
timeout = 0;
|
||||
|
||||
/*
|
||||
* Clear the signature so that if someone resets us while we're
|
||||
* in the bootloader we'll try to boot next time.
|
||||
*/
|
||||
board_set_rtc_signature(0);
|
||||
}
|
||||
|
||||
#ifdef BOOT_DELAY_ADDRESS
|
||||
{
|
||||
/*
|
||||
if a boot delay signature is present then delay the boot
|
||||
by at least that amount of time in seconds. This allows
|
||||
for an opportunity for a companion computer to load a
|
||||
new firmware, while still booting fast by sending a BOOT
|
||||
command
|
||||
*/
|
||||
uint32_t sig1 = flash_func_read_word(BOOT_DELAY_ADDRESS);
|
||||
uint32_t sig2 = flash_func_read_word(BOOT_DELAY_ADDRESS + 4);
|
||||
|
||||
if (sig2 == BOOT_DELAY_SIGNATURE2 &&
|
||||
(sig1 & 0xFFFFFF00) == (BOOT_DELAY_SIGNATURE1 & 0xFFFFFF00)) {
|
||||
unsigned boot_delay = sig1 & 0xFF;
|
||||
|
||||
if (boot_delay <= BOOT_DELAY_MAX) {
|
||||
try_boot = false;
|
||||
|
||||
if (timeout < boot_delay * 1000) {
|
||||
timeout = boot_delay * 1000;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
/*
|
||||
* Check if the force-bootloader pins are strapped; if strapped,
|
||||
* don't try booting.
|
||||
*/
|
||||
if (board_test_force_pin()) {
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#if INTERFACE_USB
|
||||
|
||||
/*
|
||||
* Check for USB connection - if present, don't try to boot, but set a timeout after
|
||||
* which we will fall out of the bootloader.
|
||||
*
|
||||
* If the force-bootloader pins are tied, we will stay here until they are removed and
|
||||
* we then time out.
|
||||
*/
|
||||
#if defined(BOARD_VBUS)
|
||||
|
||||
if (px4_arch_gpioread(BOARD_VBUS) != 0) {
|
||||
usb_connected = true;
|
||||
/* don't try booting before we set up the bootloader */
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#else
|
||||
try_boot = false;
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
#if INTERFACE_USART
|
||||
|
||||
/*
|
||||
* Check for if the USART port RX line is receiving a break command, or is being held low. If yes,
|
||||
* don't try to boot, but set a timeout after
|
||||
* which we will fall out of the bootloader.
|
||||
*
|
||||
* If the force-bootloader pins are tied, we will stay here until they are removed and
|
||||
* we then time out.
|
||||
*/
|
||||
if (board_test_usart_receiving_break()) {
|
||||
try_boot = false;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* Try to boot the app if we think we should just go straight there */
|
||||
if (try_boot) {
|
||||
|
||||
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
|
||||
#ifdef BOARD_BOOT_FAIL_DETECT
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
#endif
|
||||
|
||||
/* try to boot immediately */
|
||||
jump_to_app();
|
||||
|
||||
// If it failed to boot, reset the boot signature and stay in bootloader
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
|
||||
/* booting failed, stay in the bootloader forever */
|
||||
timeout = 0;
|
||||
}
|
||||
|
||||
|
||||
/* start the interface */
|
||||
#if INTERFACE_USART
|
||||
cinit(BOARD_INTERFACE_CONFIG_USART, USART);
|
||||
#endif
|
||||
#if INTERFACE_USB
|
||||
cinit(BOARD_INTERFACE_CONFIG_USB, USB);
|
||||
#endif
|
||||
|
||||
|
||||
#if 0
|
||||
// MCO1/02
|
||||
gpio_mode_setup(GPIOA, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO8);
|
||||
gpio_set_output_options(GPIOA, GPIO_OTYPE_PP, GPIO_OSPEED_100MHZ, GPIO8);
|
||||
gpio_set_af(GPIOA, GPIO_AF0, GPIO8);
|
||||
gpio_mode_setup(GPIOC, GPIO_MODE_AF, GPIO_PUPD_NONE, GPIO9);
|
||||
gpio_set_af(GPIOC, GPIO_AF0, GPIO9);
|
||||
#endif
|
||||
|
||||
|
||||
while (1) {
|
||||
/* run the bootloader, come back after an app is uploaded or we time out */
|
||||
bootloader(timeout);
|
||||
|
||||
/* if the force-bootloader pins are strapped, just loop back */
|
||||
if (board_test_force_pin()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
#if INTERFACE_USART
|
||||
|
||||
/* if the USART port RX line is still receiving a break, just loop back */
|
||||
if (board_test_usart_receiving_break()) {
|
||||
continue;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
/* set the boot-to-bootloader flag so that if boot fails on reset we will stop here */
|
||||
#ifdef BOARD_BOOT_FAIL_DETECT
|
||||
board_set_rtc_signature(BOOT_RTC_SIGNATURE);
|
||||
#endif
|
||||
|
||||
/* look to see if we can boot the app */
|
||||
jump_to_app();
|
||||
|
||||
/* launching the app failed - stay in the bootloader forever */
|
||||
timeout = 0;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,76 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* 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 "arm_arch.h"
|
||||
#include "lib/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);
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2021 Technology Innovation Institute. 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_subdirectory(../stm32_common arch_bootloader)
|
||||
Reference in New Issue
Block a user