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LibrePilot/flight/Bootloaders/BootloaderUpdater/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
*
*****************************************************************************/
/*
* 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
*/
/* Bootloader Includes */
#include <pios.h>
#include <stdbool.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);
/* 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(LED1);
PIOS_DELAY_WaitmS(3000);
PIOS_LED_Off(LED1);
/// Self overwrite check
uint32_t base_address = SCB->VTOR;
if ((0x08000000 + embedded_image_size) > base_address)
error(LED1);
///
FLASH_Unlock();
/// Bootloader memory space erase
uint32_t pageAddress;
pageAddress = 0x08000000;
bool fail = false;
while ((pageAddress < base_address) && (fail == false)) {
for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
if (FLASH_ErasePage(pageAddress) == FLASH_COMPLETE) {
fail = false;
break;
} else {
fail = true;
}
}
#ifdef STM32F10X_HD
pageAddress += 2048;
#elif defined (STM32F10X_MD)
pageAddress += 1024;
#endif
}
if (fail == true)
error(LED1);
///
/// Bootloader programing
for (uint32_t offset = 0; offset < embedded_image_size/sizeof(uint32_t); ++offset) {
bool result = false;
PIOS_LED_Toggle(LED1);
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) ? true : false;
}
}
if (result == false)
error(LED1);
}
///
for (uint8_t x = 0; x < 3; ++x) {
PIOS_LED_On(LED1);
PIOS_DELAY_WaitmS(1000);
PIOS_LED_Off(LED1);
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) {
for (;;) {
PIOS_LED_On(led);
PIOS_DELAY_WaitmS(500);
PIOS_LED_Off(led);
PIOS_DELAY_WaitmS(500);
}
}