restore UAVCAN bootloader support

- essentially reverting #7878 minus the obsolete board support
2026-10-19 01:43:35 +08:00 · 2020-04-19 16:10:09 -04:00
parent 7c533e5a53
commit a3ad710623
30 changed files with 6658 additions and 3 deletions
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * 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 <nuttx/config.h>
+
+#include "boot_config.h"
+
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <nuttx/progmem.h>
+
+#include "chip.h"
+#include "stm32.h"
+
+#include "flash.h"
+#include "blsched.h"
+
+/****************************************************************************
+ * Name: bl_flash_erase
+ *
+ * Description:
+ *   This function erases the flash starting at address and ending at
+ *   address + nbytes.
+ *
+ * Input Parameters:
+ *   address - A word-aligned address within the first page of flash to erase
+ *   nbytes - The number of bytes to erase, rounding up to the next page.
+ *
+ *
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_erase(size_t address, size_t nbytes)
+{
+	/*
+	 * FIXME (?): this may take a long time, and while flash is being erased it
+	 * might not be possible to execute interrupts, send NodeStatus messages etc.
+	 * We can pass a per page callback or yeild */
+
+	flash_error_t status = FLASH_ERROR_AFU;
+
+
+	ssize_t bllastpage = up_progmem_getpage(address - 1);
+
+	if (bllastpage < 0) {
+		return FLASH_ERROR_AFU;
+	}
+
+	ssize_t appstartpage = up_progmem_getpage(address);
+	ssize_t appendpage = up_progmem_getpage(address + nbytes - 4);
+
+	if (appendpage < 0 || appstartpage < 0) {
+		return FLASH_ERROR_AFU;
+	}
+
+	status = FLASH_ERROR_SUICIDE;
+
+	if (bllastpage >= 0 && appstartpage > bllastpage) {
+
+		/* Erase the whole application flash region */
+
+		status = FLASH_OK;
+
+		while (status == FLASH_OK && appstartpage <= appendpage) {
+			bl_sched_yield();
+			ssize_t ps = up_progmem_eraseblock(appstartpage++);
+
+			if (ps <= 0) {
+				status = FLASH_ERASE_ERROR;
+			}
+		}
+	}
+
+	return status;
+}
+
+/****************************************************************************
+ * Name: bl_flash_write
+ *
+ * Description:
+ *   This function writes the flash starting at the given address
+ *
+ * Input Parameters:
+ *   flash_address - The address of the flash to write
+ *                   must be word aligned
+ *   data          - A pointer to a buffer count bytes to be written
+ *                   to the flash.
+ *   count         - Number of bytes to write
+ *
+ * Returned value:
+ *   On success FLASH_OK On Error one of the flash_error_t
+ *
+ ****************************************************************************/
+
+flash_error_t bl_flash_write(uint32_t flash_address, uint8_t *data, ssize_t count)
+{
+
+	flash_error_t status = FLASH_ERROR;
+
+	if (flash_address >= APPLICATION_LOAD_ADDRESS &&
+	    (flash_address + count) <= (uint32_t) APPLICATION_LAST_8BIT_ADDRRESS) {
+		if (count  ==
+		    up_progmem_write((size_t) flash_address, (void *)data, count)) {
+			status = FLASH_OK;
+		}
+	}
+
+	return status;
+}