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Add booting into the flash boot loader as an option. (#8429)

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Add booting into the flash boot loader as an option.
This commit is contained in:
Michael Keller 2019-06-25 02:15:01 +12:00 • committed by GitHub
commit 7f2ac0cf65
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GPG key ID: 4AEE18F83AFDEB23
14 changed files with 186 additions and 112 deletions
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59
src/main/cli/cli.c
View file

@ -274,6 +274,11 @@ typedef enum dumpFlags_e {
typedef bool printFn(dumpFlags_t dumpMask, bool equalsDefault, const char *format, ...);
typedef enum {
REBOOT_TARGET_FIRMWARE,
REBOOT_TARGET_BOOTLOADER_ROM,
REBOOT_TARGET_BOOTLOADER_FLASH,
} rebootTarget_e;
static void backupPgConfig(const pgRegistry_t *pg)
{
@ -3309,31 +3314,61 @@ static char *checkCommand(char *cmdline, const char *command)
}
}
static void cliRebootEx(bool bootLoader)
static void cliRebootEx(rebootTarget_e rebootTarget)
{
cliPrint("\r\nRebooting");
bufWriterFlush(cliWriter);
waitForSerialPortToFinishTransmitting(cliPort);
stopPwmAllMotors();
if (bootLoader) {
systemResetToBootloader();
return;
switch (rebootTarget) {
case REBOOT_TARGET_BOOTLOADER_ROM:
systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
break;
#if defined(USE_FLASH_BOOT_LOADER)
case REBOOT_TARGET_BOOTLOADER_FLASH:
systemResetToBootloader(BOATLOADER_REQUEST_FLASH);
break;
#endif
case REBOOT_TARGET_FIRMWARE:
default:
systemReset();
break;
}
systemReset();
}
static void cliReboot(void)
{
cliRebootEx(false);
cliRebootEx(REBOOT_TARGET_FIRMWARE);
}
static void cliBootloader(char *cmdline)
{
UNUSED(cmdline);
rebootTarget_e rebootTarget;
if (
#if !defined(USE_FLASH_BOOT_LOADER)
isEmpty(cmdline) ||
#endif
strncasecmp(cmdline, "rom", 3) == 0) {
rebootTarget = REBOOT_TARGET_BOOTLOADER_ROM;
cliPrintHashLine("restarting in bootloader mode");
cliRebootEx(true);
cliPrintHashLine("restarting in ROM bootloader mode");
#if defined(USE_FLASH_BOOT_LOADER)
} else if (isEmpty(cmdline) || strncasecmp(cmdline, "flash", 5) == 0) {
rebootTarget = REBOOT_TARGET_BOOTLOADER_FLASH;
cliPrintHashLine("restarting in flash bootloader mode");
#endif
} else {
cliPrintErrorLinef("Invalid option");
return;
}
cliRebootEx(rebootTarget);
}
static void cliExit(char *cmdline)
@ -5873,7 +5908,11 @@ const clicmd_t cmdTable[] = {
#ifdef USE_RX_SPI
CLI_COMMAND_DEF("bind_rx_spi", "initiate binding for RX SPI", NULL, cliRxSpiBind),
#endif
CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
#if defined(USE_FLASH_BOOT_LOADER)
CLI_COMMAND_DEF("bl", "reboot into bootloader", "[flash|rom]", cliBootloader),
#else
CLI_COMMAND_DEF("bl", "reboot into bootloader", "[rom]", cliBootloader),
#endif
#if defined(USE_BOARD_INFO)
CLI_COMMAND_DEF("board_name", "get / set the name of the board model", "[board name]", cliBoardName),
#endif

2
src/main/drivers/system.c
View file

@ -202,7 +202,7 @@ void failureMode(failureMode_e mode)
#ifdef DEBUG
systemReset();
#else
systemResetToBootloader();
systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
#endif
}

11
src/main/drivers/system.h
View file

@ -50,16 +50,23 @@ typedef enum {
#define WARNING_CODE_DURATION_LONG_MS 250
#define WARNING_CODE_DURATION_SHORT_MS 50
typedef enum {
BOOTLOADER_REQUEST_ROM,
BOATLOADER_REQUEST_FLASH,
} bootloaderRequestType_e;
// failure
void indicateFailure(failureMode_e mode, int repeatCount);
void failureMode(failureMode_e mode);
// bootloader/IAP
void systemReset(void);
void systemResetToBootloader(void);
void checkForBootLoaderRequest(void);
void systemResetToBootloader(bootloaderRequestType_e requestType);
bool isMPUSoftReset(void);
void cycleCounterInit(void);
#if defined(STM32H7)
void systemCheckResetReason(void);
#endif
void initialiseMemorySections(void);

2
src/main/drivers/system_stm32f10x.c
View file

@ -114,7 +114,7 @@ void systemInit(void)
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
static void checkForBootLoaderRequest(void)
{
void(*bootJump)(void);

45
src/main/drivers/system_stm32f30x.c
View file

@ -27,6 +27,14 @@
#include "drivers/system.h"
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
#define BOOTLOADER_MAGIC 0xDEADBEEF
// 40KB SRAM STM32F30X
#define BOOT_TARGET_REGISTER ((uint32_t *)0x20009FFC)
#define DEFAULT_STACK_POINTER ((uint32_t *)0x1FFFD800)
#define SYSTEM_MEMORY_RESET_VECTOR ((uint32_t *) 0x1FFFD804)
void SetSysClock();
void systemReset(void)
@ -35,12 +43,13 @@ void systemReset(void)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
}
void systemResetToBootloader(void)
void systemResetToBootloader(bootloaderRequestType_e requestType)
{
UNUSED(requestType);
// 1FFFF000 -> 20000200 -> SP
// 1FFFF004 -> 1FFFF021 -> PC
*((uint32_t *)0x20009FFC) = 0xDEADBEEF; // 40KB SRAM STM32F30X
*BOOT_TARGET_REGISTER = BOOTLOADER_MAGIC;
systemReset();
}
@ -83,6 +92,21 @@ bool isMPUSoftReset(void)
return false;
}
static void checkForBootLoaderRequest(void)
{
if (*BOOT_TARGET_REGISTER == BOOTLOADER_MAGIC) {
*BOOT_TARGET_REGISTER = 0x0;
__enable_irq();
__set_MSP(*DEFAULT_STACK_POINTER);
((void(*)(void))(*SYSTEM_MEMORY_RESET_VECTOR))();
while (1);
}
}
void systemInit(void)
{
checkForBootLoaderRequest();
@ -106,20 +130,3 @@ void systemInit(void)
// SysTick
SysTick_Config(SystemCoreClock / 1000);
}
void checkForBootLoaderRequest(void)
{
void(*bootJump)(void);
if (*((uint32_t *)0x20009FFC) == 0xDEADBEEF) {
*((uint32_t *)0x20009FFC) = 0x0;
__enable_irq();
__set_MSP(*((uint32_t *)0x1FFFD800));
bootJump = (void(*)(void))(*((uint32_t *) 0x1FFFD804));
bootJump();
while (1);
}
}

11
src/main/drivers/system_stm32f4xx.c
View file

@ -39,9 +39,15 @@ void systemReset(void)
NVIC_SystemReset();
}
void systemResetToBootloader(void)
void systemResetToBootloader(bootloaderRequestType_e requestType)
{
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
switch (requestType) {
case BOOTLOADER_REQUEST_ROM:
default:
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
break;
}
__disable_irq();
NVIC_SystemReset();
@ -54,6 +60,7 @@ typedef struct isrVector_s {
resetHandler_t *resetHandler;
} isrVector_t;
// Used in the startup files for F4
void checkForBootLoaderRequest(void)
{
uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);

60
src/main/drivers/system_stm32f7xx.c
View file

@ -35,6 +35,10 @@
#define AIRCR_VECTKEY_MASK ((uint32_t)0x05FA0000)
#define DEFAULT_STACK_POINTER ((uint32_t *) 0x1FF00000)
#define SYSTEM_MEMORY_RESET_VECTOR ((uint32_t *) 0x1FF00004)
void SystemClock_Config(void);
void systemReset(void)
@ -43,9 +47,16 @@ void systemReset(void)
NVIC_SystemReset();
}
void systemResetToBootloader(void)
void systemResetToBootloader(bootloaderRequestType_e requestType)
{
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
switch (requestType) {
case BOOTLOADER_REQUEST_ROM:
default:
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
break;
}
__disable_irq();
NVIC_SystemReset();
}
@ -152,6 +163,25 @@ bool isMPUSoftReset(void)
return false;
}
static void checkForBootLoaderRequest(void)
{
uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
if (bootloaderRequest != RESET_BOOTLOADER_REQUEST) {
return;
}
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
__SYSCFG_CLK_ENABLE();
SYSCFG->MEMRMP |= SYSCFG_MEM_BOOT_ADD0 ;
__set_MSP(*DEFAULT_STACK_POINTER);
((void (*)(void))*SYSTEM_MEMORY_RESET_VECTOR)();
while (1);
}
void systemInit(void)
{
checkForBootLoaderRequest();
@ -186,29 +216,3 @@ void systemInit(void)
HAL_SYSTICK_CLKSourceConfig(SYSTICK_CLKSOURCE_HCLK);
}
void(*bootJump)(void);
void checkForBootLoaderRequest(void)
{
uint32_t bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
if (bootloaderRequest != RESET_BOOTLOADER_REQUEST) {
return;
}
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_NONE);
void (*SysMemBootJump)(void);
__SYSCFG_CLK_ENABLE();
SYSCFG->MEMRMP |= SYSCFG_MEM_BOOT_ADD0 ;
uint32_t p = (*((uint32_t *) 0x1ff00000));
__set_MSP(p); //Set the main stack pointer to its default values
SysMemBootJump = (void (*)(void)) (*((uint32_t *) 0x1ff00004)); // Point the PC to the System Memory reset vector (+4)
SysMemBootJump();
while (1);
}

44
src/main/drivers/system_stm32h7xx.c
View file

@ -180,7 +180,7 @@ void systemInit(void)
// Mark ITCM-RAM as read-only
HAL_MPU_Disable();
// "For Cortex®-M7, TCMs memories always behave as Non-cacheable, Non-shared normal memories, irrespectiveof the memory type attributes defined in the MPU for a memory region containing addresses held in the TCM"
// "For Cortex®-M7, TCMs memories always behave as Non-cacheable, Non-shared normal memories, irrespective of the memory type attributes defined in the MPU for a memory region containing addresses held in the TCM"
// See AN4838
MPU_Region_InitTypeDef MPU_InitStruct;
@ -230,14 +230,6 @@ void systemInit(void)
void systemReset(void)
{
#if 0
#ifdef USE_GYRO
if (mpuResetFn) {
mpuResetFn();
}
#endif
#endif
SCB_DisableDCache();
SCB_DisableICache();
@ -253,36 +245,36 @@ void forcedSystemResetWithoutDisablingCaches(void)
NVIC_SystemReset();
}
void systemResetToBootloader(void)
void systemResetToBootloader(bootloaderRequestType_e requestType)
{
#if 0
#ifdef USE_GYRO
if (mpuResetFn) {
mpuResetFn();
switch (requestType) {
#if defined(USE_FLASH_BOOT_LOADER)
case BOATLOADER_REQUEST_FLASH:
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_FLASH_BOOTLOADER_REQUEST);
break;
#endif
case BOOTLOADER_REQUEST_ROM:
default:
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
break;
}
#endif
#endif
#ifdef USE_EXST
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_FLASH_BOOTLOADER_REQUEST);
#else
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_REQUEST);
#endif
__disable_irq();
NVIC_SystemReset();
}
static uint32_t bootloaderRequest;
bool systemIsFlashBootloaderRequested(void)
{
return (bootloaderRequest == RESET_FLASH_BOOTLOADER_REQUEST);
}
void systemCheckResetReason(void)
{
bootloaderRequest = persistentObjectRead(PERSISTENT_OBJECT_RESET_REASON);
switch (bootloaderRequest) {
#if defined(USE_FLASH_BOOT_LOADER)
case BOATLOADER_REQUEST_FLASH:
#endif
case RESET_BOOTLOADER_REQUEST:
persistentObjectWrite(PERSISTENT_OBJECT_RESET_REASON, RESET_BOOTLOADER_POST);
break;

13
src/main/msp/msp.c
View file

@ -140,9 +140,10 @@ static const char * const flightControllerIdentifier = BETAFLIGHT_IDENTIFIER; //
enum {
MSP_REBOOT_FIRMWARE = 0,
MSP_REBOOT_BOOTLOADER,
MSP_REBOOT_BOOTLOADER_ROM,
MSP_REBOOT_MSC,
MSP_REBOOT_MSC_UTC,
MSP_REBOOT_BOOTLOADER_FLASH,
MSP_REBOOT_COUNT,
};
@ -263,8 +264,8 @@ static void mspRebootFn(serialPort_t *serialPort)
systemReset();
break;
case MSP_REBOOT_BOOTLOADER:
systemResetToBootloader();
case MSP_REBOOT_BOOTLOADER_ROM:
systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
break;
#if defined(USE_USB_MSC)
@ -279,6 +280,12 @@ static void mspRebootFn(serialPort_t *serialPort)
}
break;
#endif
#if defined(USE_FLASH_BOOT_LOADER)
case MSP_REBOOT_BOOTLOADER_FLASH:
systemResetToBootloader(BOOTLOADER_REQUEST_FLASH);
break;
#endif
default:
return;

36
src/main/msp/msp_serial.c
View file

@ -425,16 +425,16 @@ static mspPostProcessFnPtr mspSerialProcessReceivedCommand(mspPort_t *msp, mspPr
static void mspEvaluateNonMspData(mspPort_t * mspPort, uint8_t receivedChar)
{
if (receivedChar == serialConfig()->reboot_character) {
mspPort->pendingRequest = MSP_PENDING_BOOTLOADER_ROM;
#ifdef USE_CLI
if (receivedChar == '#') {
} else if (receivedChar == '#') {
mspPort->pendingRequest = MSP_PENDING_CLI;
return;
}
#endif
if (receivedChar == serialConfig()->reboot_character) {
mspPort->pendingRequest = MSP_PENDING_BOOTLOADER;
return;
#if defined(USE_FLASH_BOOT_LOADER)
} else if (receivedChar == 'F') {
mspPort->pendingRequest = MSP_PENDING_BOOTLOADER_FLASH;
#endif
}
}
@ -446,18 +446,24 @@ static void mspProcessPendingRequest(mspPort_t * mspPort)
}
switch(mspPort->pendingRequest) {
case MSP_PENDING_BOOTLOADER:
systemResetToBootloader();
break;
case MSP_PENDING_BOOTLOADER_ROM:
systemResetToBootloader(BOOTLOADER_REQUEST_ROM);
break;
#if defined(USE_FLASH_BOOT_LOADER)
case MSP_PENDING_BOOTLOADER_ROM:
systemResetToBootloader(BOATLOADER_REQUEST_FLASH);
break;
#endif
#ifdef USE_CLI
case MSP_PENDING_CLI:
cliEnter(mspPort->port);
break;
case MSP_PENDING_CLI:
cliEnter(mspPort->port);
break;
#endif
default:
break;
default:
break;
}
}

5
src/main/msp/msp_serial.h
View file

@ -59,8 +59,9 @@ typedef enum {
typedef enum {
MSP_PENDING_NONE,
MSP_PENDING_BOOTLOADER,
MSP_PENDING_CLI
MSP_PENDING_BOOTLOADER_ROM,
MSP_PENDING_CLI,
MSP_PENDING_BOOTLOADER_FLASH,
} mspPendingSystemRequest_e;
#define MSP_PORT_INBUF_SIZE 192

4
src/main/target/SITL/target.c
View file

@ -252,7 +252,9 @@ void systemReset(void){
pthread_join(udpWorker, NULL);
exit(0);
}
void systemResetToBootloader(void) {
void systemResetToBootloader(bootloaderRequestType_e requestType) {
UNUSED(requestType);
printf("[system]ResetToBootloader!\n");
workerRunning = false;
pthread_join(tcpWorker, NULL);

4
src/main/target/common_post.h
View file

@ -352,3 +352,7 @@ extern uint8_t eepromData[EEPROM_SIZE];
extern uint8_t __config_start; // configured via linker script when building binaries.
extern uint8_t __config_end;
#endif
#if defined(USE_EXST)
#define USE_FLASH_BOOT_LOADER
#endif

2
src/main/target/system_stm32h7xx.c
View file

@ -572,8 +572,6 @@ void MPU_Config()
* @param None
* @retval None
*/
void systemCheckResetReason(void);
void resetMPU(void)
{
MPU_Region_InitTypeDef MPU_InitStruct;