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AP_Bootloader: fix bootloader build issues
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@bugobliterator @tridge
bugobliterator authored and tridge committed Sep 1, 2021
1 parent 215c124 commit 7cf9db4
Showing 1 changed file with 58 additions and 17 deletions.
75 changes: 58 additions & 17 deletions Tools/AP_Bootloader/bl_protocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,12 +109,10 @@
#define PROTO_SET_BAUD 0x33 // baud rate on uart

// External Flash programming
#if EXTERNAL_PROG_FLASH_MB
#define PROTO_EXTF_ERASE 0x34 // Erase sectors from external flash
#define PROTO_EXTF_PROG_MULTI 0x35 // write bytes at external flash program address and increment
#define PROTO_EXTF_READ_MULTI 0x36 // read bytes at address and increment
#define PROTO_EXTF_GET_CRC 0x37 // compute & return a CRC of data in external flash
#endif

#define PROTO_PROG_MULTI_MAX 64 // maximum PROG_MULTI size
#define PROTO_READ_MULTI_MAX 255 // size of the size field
Expand Down Expand Up @@ -225,21 +223,30 @@ do_jump(uint32_t stacktop, uint32_t entrypoint)
: : "r"(stacktop), "r"(entrypoint) :);
}

#ifndef APP_START_ADDRESS
#define APP_START_ADDRESS (FLASH_LOAD_ADDRESS + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024U)
#endif

void
jump_to_app()
{
const uint32_t *app_base = (const uint32_t *)(APP_START_ADDRESS);

// If we have QSPI chip start it
#if EXTERNAL_PROG_FLASH_MB
uint8_t* ext_flash_start_addr;
if (!ext_flash.start_xip_mode((void**)&ext_flash_start_addr)) {
return;
}
#endif
/*
* We hold back the programming of the lead words until the upload
* is marked complete by the host. So if they are not 0xffffffff,
* we should try booting it.
*/
for (uint8_t i=0; i<RESERVE_LEAD_WORDS; i++) {
if (app_base[i] == 0xffffffff) {
return;
goto exit;
}
}

Expand All @@ -248,12 +255,16 @@ jump_to_app()
* flash area (or we have a bad flash).
*/
if (app_base[1] < APP_START_ADDRESS) {
return;
goto exit;
}

#if !EXTERNAL_PROG_FLASH_MB // its very likely to happen when using external flash
#if BOOT_FROM_EXT_FLASH
if (app_base[1] >= (APP_START_ADDRESS + board_info.extf_size)) {
goto exit;
}
#else
if (app_base[1] >= (APP_START_ADDRESS + board_info.fw_size)) {
return;
goto exit;
}
#endif

Expand All @@ -273,12 +284,6 @@ jump_to_app()

led_set(LED_OFF);

// If we have QSPI chip start it
uint8_t* ext_flash_start_addr;
if (!ext_flash.start_xip_mode((void**)&ext_flash_start_addr)) {
return;
}

// resetting the clocks is needed for loading NuttX
#if defined(STM32H7)
rccDisableAPB1L(~0);
Expand All @@ -303,6 +308,11 @@ jump_to_app()

/* extract the stack and entrypoint from the app vector table and go */
do_jump(app_base[0], app_base[1]);
exit:
#if EXTERNAL_PROG_FLASH_MB
ext_flash.stop_xip_mode();
#endif
return;
}

static void
Expand Down Expand Up @@ -417,7 +427,9 @@ bootloader(unsigned timeout)
#endif

uint32_t address = board_info.fw_size; /* force erase before upload will work */
uint32_t extf_address = board_info.extf_size; /* force erase before upload will work */
#if EXTERNAL_PROG_FLASH_MB
uint32_t extf_address = board_info.extf_size; /* force erase before upload will work */
#endif
uint32_t read_address = 0;
uint32_t first_words[RESERVE_LEAD_WORDS];
bool done_sync = false;
Expand Down Expand Up @@ -679,6 +691,7 @@ bootloader(unsigned timeout)
//
case PROTO_EXTF_PROG_MULTI:
{
#if EXTERNAL_PROG_FLASH_MB
if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
// lower chance of random data on a uart triggering erase
goto cmd_bad;
Expand Down Expand Up @@ -715,6 +728,8 @@ bootloader(unsigned timeout)
goto cmd_bad;
}

uint32_t offset = 0;
uint32_t size = arg;
#if BOOT_FROM_EXT_FLASH
// save the first words and don't program it until everything else is done
if (extf_address < sizeof(first_words)) {
Expand All @@ -724,9 +739,7 @@ bootloader(unsigned timeout)
memset(&flash_buffer.w[0], 0xFF, n);
}
#endif
uint32_t size = arg;
uint32_t programming;
uint32_t offset = 0;
uint32_t delay_us = 0, timeout_us = 0;
uint64_t start_time_us;
while (true) {
Expand All @@ -753,6 +766,7 @@ bootloader(unsigned timeout)
}
}
}
#endif
break;
}

Expand Down Expand Up @@ -806,13 +820,14 @@ bootloader(unsigned timeout)
}

// save the first words and don't program it until everything else is done
#if !BOOT_FROM_EXT_FLASH
if (address < sizeof(first_words)) {
uint8_t n = MIN(sizeof(first_words)-address, arg);
memcpy(&first_words[address/4], &flash_buffer.w[0], n);
// replace first words with 1 bits we can overwrite later
memset(&flash_buffer.w[0], 0xFF, n);
}

#endif
arg /= 4;
// program the words
if (!flash_write_buffer(address, flash_buffer.w, arg)) {
Expand Down Expand Up @@ -842,9 +857,12 @@ bootloader(unsigned timeout)
for (unsigned p = 0; p < board_info.fw_size; p += 4) {
uint32_t bytes;

#if !BOOT_FROM_EXT_FLASH
if (p < sizeof(first_words) && first_words[0] != 0xFFFFFFFF) {
bytes = first_words[p/4];
} else {
} else
#endif
{
bytes = flash_func_read_word(p);
}
sum = crc32_small(sum, (uint8_t *)&bytes, sizeof(bytes));
Expand All @@ -860,6 +878,7 @@ bootloader(unsigned timeout)
// reply: <crc:4>/INSYNC/OK
//
case PROTO_EXTF_GET_CRC: {
#if EXTERNAL_PROG_FLASH_MB
// expect EOC
uint32_t cmd_verify_bytes;
if (cin_word(&cmd_verify_bytes, 100)) {
Expand Down Expand Up @@ -893,6 +912,7 @@ bootloader(unsigned timeout)
}
cout_word(sum);
break;
#endif
}

// read a word from the OTP
Expand Down Expand Up @@ -1058,9 +1078,30 @@ bootloader(unsigned timeout)

// program the deferred first word
if (first_words[0] != 0xffffffff) {
#if !BOOT_FROM_EXT_FLASH
if (!flash_write_buffer(0, first_words, RESERVE_LEAD_WORDS)) {
goto cmd_fail;
}
#else
uint32_t programming;
uint32_t delay_us;
uint32_t timeout_us;
if (!ext_flash.start_program_offset(0, (const uint8_t*)first_words, sizeof(first_words), programming, delay_us, timeout_us)) {
// uprintf("ext flash write command failed\n");
goto cmd_fail;
}
uint64_t start_time_us = AP_HAL::micros64();
while (true) {
if (AP_HAL::micros64() > (start_time_us+delay_us)) {
if (!ext_flash.is_device_busy()) {
// uprintf("flash program Successful, elapsed %ld us\n", uint32_t(AP_HAL::micros64() - start_time_us));
break;
} else {
// uprintf("Typical flash program time reached, Still Busy?!\n");
}
}
}
#endif
// revert in case the flash was bad...
memset(first_words, 0xff, sizeof(first_words));
}
Expand Down

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