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

/**
 ******************************************************************************
 * @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
 * 
 *****************************************************************************/
/* 
 * 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 
 * (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 
 * 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., 
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#include <pios.h>
#include <pios_board_info.h>
#include <stdbool.h>
#include <pios_bl_helper.h>

#define MAX_WRI_RETRYS 3
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void FLASH_Download();
void error(int, int);

#ifdef STM32F4XX
#define FLASH_ErasePage(x) FLASH_EraseSector((x) > 0x08000000 ? FLASH_Sector_1 : FLASH_Sector_0, VoltageRange_3)
#endif
/* 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);

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(0x08000000 + (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);
    }

}

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);
		}
}