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LibrePilot/flight/targets/common/bootloader_updater/main.c

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/**
******************************************************************************
* @addtogroup OpenPilotBL OpenPilot BootLoader
* @brief These files contain the code to the OpenPilot MB Bootloader.
*
* @{
* @file main.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This is the file with the main function of the OpenPilot BootLoader
* @see The GNU Public License (GPL) Version 3
*
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*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
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#include <pios.h>
#include <pios_board_info.h>
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#include <stdbool.h>
#include <pios_bl_helper.h>
#include <pios_board_init.h>
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#define MAX_WRI_RETRYS 3
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extern void FLASH_Download();
void error(int, int);
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/* The ADDRESSES of the _binary_* symbols are the important
* data. This is non-intuitive for _binary_size where you
* might expect its value to hold the size but you'd be wrong.
*/
extern uint32_t _binary_start;
extern uint32_t _binary_end;
extern uint32_t _binary_size;
const uint32_t *embedded_image_start = (uint32_t *)&(_binary_start);
const uint32_t *embedded_image_end = (uint32_t *)&(_binary_end);
const uint32_t embedded_image_size = (uint32_t)&(_binary_size);
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int main()
{
PIOS_SYS_Init();
PIOS_Board_Init();
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((BL_BANK_BASE + embedded_image_size) > base_address) {
error(PIOS_LED_HEARTBEAT, 1);
}
///
/*
* Make sure the bootloader we're carrying is for the same
* board type and board revision as the one we're running on.
*
* Assume the bootloader in flash and the bootloader contained in
* the updater both carry a board_info_blob at the end of the image.
*/
/* Calculate how far the board_info_blob is from the beginning of the bootloader */
uint32_t board_info_blob_offset = (uint32_t)&pios_board_info_blob - (uint32_t)BL_BANK_BASE;
/* Use the same offset into our embedded bootloader image */
struct pios_board_info *new_board_info_blob = (struct pios_board_info *)((uint32_t)embedded_image_start + board_info_blob_offset);
/* Compare the two board info blobs to make sure they're for the same HW revision */
if ((pios_board_info_blob.magic != new_board_info_blob->magic) ||
(pios_board_info_blob.board_type != new_board_info_blob->board_type) ||
(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
error(PIOS_LED_HEARTBEAT, 2);
}
/* Embedded bootloader looks like it's the right one for this HW, proceed... */
FLASH_Unlock();
bool fail;
fail = (PIOS_BL_HELPER_FLASH_Erase_Bootloader() != 1);
if (fail == true) {
error(PIOS_LED_HEARTBEAT, 3);
}
///
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
for (uint8_t retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == false) {
result = (FLASH_ProgramWord(BL_BANK_BASE + (offset * 4), embedded_image_start[offset]) == FLASH_COMPLETE);
}
}
if (result == false) {
error(PIOS_LED_HEARTBEAT, 4);
}
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(PIOS_LED_HEARTBEAT);
PIOS_DELAY_WaitmS(1000);
}
/// Invalidate the bootloader updater so we won't run
/// the update again on the next power cycle.
FLASH_ProgramWord(base_address, 0);
FLASH_Lock();
for (;;) {
PIOS_DELAY_WaitmS(1000);
}
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}
void error(int led, int code)
{
for (;;) {
PIOS_DELAY_WaitmS(1000);
for (int x = 0; x < code; x++) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(200);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(1000);
}
PIOS_DELAY_WaitmS(3000);
}
}