OP-917 Moved all the flash architecture related code to pios_bl_helper, get the flash addresses from board defines, major cleanup.

+review OPReview

flight/pios/inc/pios_bl_helper.h

@@ -36,6 +36,7 @@ extern uint8_t PIOS_BL_HELPER_FLASH_Ini();
 extern uint32_t PIOS_BL_HELPER_CRC_Memory_Calc();
 extern void PIOS_BL_HELPER_FLASH_Read_Description(uint8_t * array, uint8_t size);
 extern uint8_t PIOS_BL_HELPER_FLASH_Start();
+extern uint8_t PIOS_BL_HELPER_FLASH_ERASE_BOOTLOADER();
 extern void PIOS_BL_HELPER_CRC_Ini();
 
 #endif /* PIOS_BL_HELPER_H */

flight/pios/stm32f10x/pios_bl_helper.c

@@ -35,44 +35,66 @@
 #include <pios_board_info.h>
 #include "stm32f10x_flash.h"
 
+
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
 	return (uint8_t *) (SectorAddress);
 }
 
 #if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress);
+
 uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
-	FLASH_Unlock();
+    FLASH_Unlock();
-	return 1;
+    return 1;
 }
 
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
-	const struct pios_board_info * bdinfo = &pios_board_info_blob;
+    const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	uint32_t pageAdress = bdinfo->fw_base;
+    uint32_t startAddress = bdinfo->fw_base;
-	uint8_t fail = FALSE;
+    uint32_t endAddress = bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size;
-	while ((pageAdress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
-	       || (fail == TRUE)) {
-		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
-				fail = FALSE;
-				break;
-			} else {
-				fail = TRUE;
-			}
 
-		}
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+uint8_t PIOS_BL_HELPER_FLASH_ERASE_BOOTLOADER() {
+/// Bootloader memory space erase
+    uint32_t startAddress = BL_BANK_BASE;
+    uint32_t endAddress = BL_BANK_BASE + BL_BANK_SIZE;
+
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress) {
+    uint32_t pageAdress = startAddress;
+    uint8_t fail = FALSE;
+    while ((pageAdress < endAddress)
+            || (fail == TRUE)) {
+        for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
+            if (FLASH_ErasePage(pageAdress) == FLASH_COMPLETE) {
+                fail = FALSE;
+                break;
+            } else {
+                fail = TRUE;
+            }
+        }
 
 #ifdef STM32F10X_HD
-		pageAdress += 2048;
+        pageAdress += 2048;
 #elif defined (STM32F10X_MD)
-		pageAdress += 1024;
+        pageAdress += 1024;
 #endif
-	}
+    }
-
+    return !fail;
-	return (fail == TRUE) ? 0 : 1;
 }
+
 #endif
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()

flight/pios/stm32f10x/pios_sys.c

@@ -50,6 +50,9 @@ void PIOS_SYS_Init(void)
 	/* Setup STM32 system (RCC, clock, PLL and Flash configuration) - CMSIS Function */
 	SystemInit();
 
+	/* Init the delay system */
+	PIOS_DELAY_Init();
+
 	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
 	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB | RCC_APB2Periph_GPIOC | RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE |
 			       RCC_APB2Periph_AFIO, ENABLE);

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c

@@ -392,7 +392,7 @@ static void SetSysClock(void)
     }
    
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_3WS;
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_3WS;
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c

@@ -393,7 +393,7 @@ static void SetSysClock(void)
     }
    
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS;
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c

@@ -393,7 +393,7 @@ static void SetSysClock(void)
     }
    
     /* Configure Flash prefetch, Instruction cache, Data cache and wait state */
-    FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
+    FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS;
 
     /* Select the main PLL as system clock source */
     RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));

flight/pios/stm32f4xx/pios_bl_helper.c

@@ -36,12 +36,16 @@
 #include "stm32f4xx_flash.h"
 #include <stdbool.h>
 
+
 uint8_t *PIOS_BL_HELPER_FLASH_If_Read(uint32_t SectorAddress)
 {
 	return (uint8_t *) (SectorAddress);
 }
 
 #if defined(PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT)
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress);
+
 uint8_t PIOS_BL_HELPER_FLASH_Ini()
 {
 	FLASH_Unlock();
@@ -138,35 +142,55 @@ static bool PIOS_BL_HELPER_FLASH_GetSectorInfo(uint32_t address, uint8_t * secto
 uint8_t PIOS_BL_HELPER_FLASH_Start()
 {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
-	uint32_t pageAddress = bdinfo->fw_base;
+	uint32_t startAddress = bdinfo->fw_base;
-	bool fail = false;
+	uint32_t endAddress = bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size;
-	while ((pageAddress < (bdinfo->fw_base + bdinfo->fw_size + bdinfo->desc_size))
-	       && (fail == false)) {
-		uint8_t sector_number;
-		uint32_t sector_start;
-		uint32_t sector_size;
-		if (!PIOS_BL_HELPER_FLASH_GetSectorInfo(pageAddress, 
-								&sector_number,
-								&sector_start,
-								&sector_size)) {
-			/* We're asking for an invalid flash address */
-			PIOS_Assert(0);
-		}
-		for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
-			if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
-				fail = false;
-				break;
-			} else {
-				fail = true;
-			}
 
-		}
+	bool success = erase_flash(startAddress, endAddress);
-		/* Move to the next sector */
-		pageAddress += sector_size;
-	}
 
-	return (fail == true) ? 0 : 1;
+    return (success) ? 1 : 0;
 }
+
+
+uint8_t PIOS_BL_HELPER_FLASH_ERASE_BOOTLOADER() {
+/// Bootloader memory space erase
+    uint32_t startAddress = BL_BANK_BASE;
+    uint32_t endAddress = BL_BANK_BASE + BL_BANK_SIZE;
+
+    bool success = erase_flash(startAddress, endAddress);
+
+    return (success) ? 1 : 0;
+}
+
+static bool erase_flash(uint32_t startAddress, uint32_t endAddress)
+{
+    uint32_t pageAddress = startAddress;
+    bool fail = false;
+    while ((pageAddress < endAddress)
+            && (fail == false)) {
+        uint8_t sector_number;
+        uint32_t sector_start;
+        uint32_t sector_size;
+        if (!PIOS_BL_HELPER_FLASH_GetSectorInfo(pageAddress,
+                        &sector_number,
+                        &sector_start,
+                        &sector_size)) {
+            /* We're asking for an invalid flash address */
+            PIOS_Assert(0);
+        }
+        for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) {
+            if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) {
+                fail = false;
+                break;
+            } else {
+                fail = true;
+            }
+        }
+        /* Move to the next sector */
+        pageAddress += sector_size;
+    }
+    return !fail;
+}
+
 #endif
 
 uint32_t PIOS_BL_HELPER_CRC_Memory_Calc()

flight/targets/common/bootloader_updater/inc/pios_config.h

@@ -37,6 +37,7 @@
 //#define PIOS_INCLUDE_GPIO
 #define PIOS_INCLUDE_LED
 #define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
 
 #endif /* PIOS_CONFIG_H */
 

flight/targets/common/bootloader_updater/main.c

@@ -29,12 +29,14 @@
 #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
@@ -45,107 +47,87 @@ void error(int, int);
 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_start = (uint32_t *) &(_binary_start);
-const uint32_t * embedded_image_end   = (uint32_t *) &(_binary_end);
+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_SYS_Init();
-	PIOS_Board_Init();
+    PIOS_Board_Init();
-	PIOS_LED_On(PIOS_LED_HEARTBEAT);
+    PIOS_LED_On(PIOS_LED_HEARTBEAT);
-	PIOS_DELAY_WaitmS(3000);
+    PIOS_DELAY_WaitmS(3000);
-	PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+    PIOS_LED_Off(PIOS_LED_HEARTBEAT);
 
-	/// Self overwrite check
+    /// Self overwrite check
-	uint32_t base_address = SCB->VTOR;
+    uint32_t base_address = SCB ->VTOR;
-	if ((BL_BANK_BASE + embedded_image_size) > base_address)
+    if ((BL_BANK_BASE + embedded_image_size) > base_address)
-		error(PIOS_LED_HEARTBEAT, 1);
+        error(PIOS_LED_HEARTBEAT, 1);
-	///
+    ///
 
-	/*
+    /*
-	 * Make sure the bootloader we're carrying is for the same
+     * Make sure the bootloader we're carrying is for the same
-	 * board type and board revision as the one we're running on.
+     * board type and board revision as the one we're running on.
-	 *
+     *
-	 * Assume the bootloader in flash and the bootloader contained in
+     * Assume the bootloader in flash and the bootloader contained in
-	 * the updater both carry a board_info_blob at the end of the image.
+     * 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 */
+    /* 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;
+    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 */
+    /* Use the same offset into our embedded bootloader image */
-	struct pios_board_info * new_board_info_blob = (struct pios_board_info *)
+    struct pios_board_info *new_board_info_blob = (struct pios_board_info *) ((uint32_t) embedded_image_start + board_info_blob_offset);
-		((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 */
+    /* 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) ||
+    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_type != new_board_info_blob->board_type) ||
-		(pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
+        (pios_board_info_blob.board_rev != new_board_info_blob->board_rev)) {
-		error(PIOS_LED_HEARTBEAT, 2);
+        error(PIOS_LED_HEARTBEAT, 2);
-	}
+    }
 
-	/* Embedded bootloader looks like it's the right one for this HW, proceed... */
+    /* Embedded bootloader looks like it's the right one for this HW, proceed... */
 
-	FLASH_Unlock();
+    FLASH_Unlock();
 
-	/// Bootloader memory space erase
+    bool fail;
-	uint32_t pageAddress;
-	pageAddress = BL_BANK_BASE;
-	bool fail = false;
-	while ((pageAddress < BL_BANK_BASE + BL_BANK_SIZE) && (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;
-#elif defined (STM32F4XX)
-        pageAddress += 0x4000;
-#endif
-	}
 
-	if (fail == true)
+    fail = (PIOS_BL_HELPER_FLASH_ERASE_BOOTLOADER() != 1);
-		error(PIOS_LED_HEARTBEAT, 3);
 
+    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
-	/// Bootloader programing
+    /// the update again on the next power cycle.
-	for (uint32_t offset = 0; offset < embedded_image_size / sizeof(uint32_t); ++offset) {
+    FLASH_ProgramWord(base_address, 0);
-		bool result = false;
+    FLASH_Lock();
-		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) ? true : false;
-			}
-		}
-		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
+    for (;;) {
-	/// the update again on the next power cycle.
+        PIOS_DELAY_WaitmS(1000);
-	FLASH_ProgramWord(base_address, 0);
+    }
-	FLASH_Lock();
-
-	for (;;) {
-		PIOS_DELAY_WaitmS(1000);
-	}
 
 }
 

flight/targets/common/bootloader_updater/pios_board.c

@@ -36,22 +36,12 @@
 #include <board_hw_defs.c>
 #ifdef STM32F4XX
 #define FLASH_ErasePage(x) FLASH_EraseSector(x,VoltageRange_3)
-#define FLASH_PrefetchBuffer_Enable ENABLE
 #endif
 
 
 void PIOS_Board_Init(void) {
 	const struct pios_board_info * bdinfo = &pios_board_info_blob;
 
-	/* Enable Prefetch Buffer */
-	FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
-
-	/* Flash 2 wait state */
-	//FLASH_SetLatency(FLASH_Latency_5);
-
-	/* Delay system */
-	PIOS_DELAY_Init();
-
 	/* LEDs */
 #if defined(PIOS_INCLUDE_LED)
 	const struct pios_led_cfg * led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);