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LibrePilot/flight/libraries/op_dfu.c
Alessio Morale 7e73c59e90 OP-1476 - Fixes for Bootloader 
- Allocate 10KBytes for bootloader;
- Replace pios_com_msg with pios_com for ssp support
- Change Speed to 9600 for higher reliability
2014-09-16 22:40:53 +02:00

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/**
******************************************************************************
* @addtogroup CopterControlBL CopterControl BootLoader
* @brief These files contain the code to the CopterControl Bootloader.
*
* @{
* @file op_dfu.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This file contains the DFU commands handling code
* @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
*/
/* Includes ------------------------------------------------------------------*/
#include "pios.h"
#include <stdbool.h>
#include "op_dfu.h"
#include "pios_bl_helper.h"
#include <pios_board_info.h>
// programmable devices
Device devicesTable[10];
uint8_t numberOfDevices = 0;
DFUProgType currentProgrammingDestination; // flash, flash_trough spi
uint8_t currentDeviceCanRead;
uint8_t currentDeviceCanWrite;
Device currentDevice;
uint8_t Buffer[64];
uint8_t echoBuffer[64];
uint8_t SendBuffer[64];
uint8_t Command = 0;
uint8_t EchoReqFlag = 0;
uint8_t EchoAnsFlag = 0;
uint8_t StartFlag = 0;
uint32_t Aditionals = 0;
uint32_t SizeOfTransfer = 0;
uint32_t Expected_CRC = 0;
uint8_t SizeOfLastPacket = 0;
uint32_t Next_Packet = 0;
uint8_t TransferType;
uint32_t Count = 0;
uint32_t Data;
uint8_t Data0;
uint8_t Data1;
uint8_t Data2;
uint8_t Data3;
uint32_t Opt[3];
// Download vars
uint32_t downSizeOfLastPacket = 0;
uint32_t downPacketTotal = 0;
uint32_t downPacketCurrent = 0;
DFUTransfer downType = 0;
/* Extern variables ----------------------------------------------------------*/
extern DFUStates DeviceState;
extern uint8_t JumpToApp;
extern int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len);
/* Private function prototypes -----------------------------------------------*/
static uint32_t baseOfAdressType(uint8_t type);
static uint8_t isBiggerThanAvailable(uint8_t type, uint32_t size);
static void OPDfuIni(uint8_t discover);
bool flash_read(uint8_t *buffer, uint32_t adr, DFUProgType type);
/* Private functions ---------------------------------------------------------*/
void sendData(uint8_t *buf, uint16_t size);
uint32_t CalcFirmCRC(void);
void DataDownload(__attribute__((unused)) DownloadAction action)
{
if ((DeviceState == downloading)) {
uint8_t packetSize;
uint32_t offset;
uint32_t partoffset;
SendBuffer[0] = 0x01;
SendBuffer[1] = Download;
SendBuffer[2] = downPacketCurrent >> 24;
SendBuffer[3] = downPacketCurrent >> 16;
SendBuffer[4] = downPacketCurrent >> 8;
SendBuffer[5] = downPacketCurrent;
if (downPacketCurrent == downPacketTotal - 1) {
packetSize = downSizeOfLastPacket;
} else {
packetSize = 14;
}
for (uint8_t x = 0; x < packetSize; ++x) {
partoffset = (downPacketCurrent * 14 * 4) + (x * 4);
offset = baseOfAdressType(downType) + partoffset;
if (!flash_read(SendBuffer + (6 + x * 4), offset,
currentProgrammingDestination)) {
DeviceState = Last_operation_failed;
}
}
downPacketCurrent = downPacketCurrent + 1;
if (downPacketCurrent > downPacketTotal - 1) {
DeviceState = Last_operation_Success;
Aditionals = (uint32_t)Download;
}
sendData(SendBuffer + 1, 63);
}
}
static uint32_t unpack_uint32(uint8_t *buffer)
{
uint32_t ret = buffer[0] << 24;
ret += buffer[1] << 16;
ret += buffer[2] << 8;
ret += buffer[3];
return ret;
}
static void pack_uint32(uint32_t value, uint8_t *buffer)
{
buffer[0] = value >> 24;
buffer[1] = value >> 16;
buffer[2] = value >> 8;
buffer[3] = value;
}
void processComand(uint8_t *xReceive_Buffer)
{
Command = xReceive_Buffer[COMMAND];
EchoReqFlag = (Command >> 7);
EchoAnsFlag = (Command >> 6) & 0x01;
StartFlag = (Command >> 5) & 0x01;
Count = unpack_uint32(&xReceive_Buffer[COUNT]);
Data = unpack_uint32(&xReceive_Buffer[DATA]);
Data0 = xReceive_Buffer[DATA];
Data1 = xReceive_Buffer[DATA + 1];
Data2 = xReceive_Buffer[DATA + 2];
Data3 = xReceive_Buffer[DATA + 3];
for (uint32_t i = 0; i < 3; i++) {
Opt[i] = unpack_uint32(&xReceive_Buffer[DATA + 4 * (i + 1)]);
}
Command = Command & 0b00011111;
if (EchoReqFlag == 1) {
memcpy(echoBuffer, xReceive_Buffer, 64);
}
switch (Command) {
case EnterDFU:
if (((DeviceState == BLidle) && (Data0 < numberOfDevices))
|| (DeviceState == DFUidle)) {
if (Data0 > 0) {
OPDfuIni(true);
}
DeviceState = DFUidle;
currentProgrammingDestination = devicesTable[Data0].programmingType;
currentDeviceCanRead = devicesTable[Data0].readWriteFlags & 0x01;
currentDeviceCanWrite = devicesTable[Data0].readWriteFlags >> 1
& 0x01;
currentDevice = devicesTable[Data0];
uint8_t result = 0;
switch (currentProgrammingDestination) {
case Self_flash:
result = PIOS_BL_HELPER_FLASH_Ini();
break;
case Remote_flash_via_spi:
result = true;
break;
default:
DeviceState = Last_operation_failed;
Aditionals = (uint16_t)Command;
}
if (result != 1) {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t)Command;
}
}
break;
case Upload:
if ((DeviceState == DFUidle) || (DeviceState == uploading)) {
if ((StartFlag == 1) && (Next_Packet == 0)) {
TransferType = Data0;
SizeOfTransfer = Count;
Next_Packet = 1;
Expected_CRC = unpack_uint32(&xReceive_Buffer[DATA + 2]);
SizeOfLastPacket = Data1;
if (isBiggerThanAvailable(TransferType, (SizeOfTransfer - 1)
* 14 * 4 + SizeOfLastPacket * 4) == true) {
DeviceState = outsideDevCapabilities;
Aditionals = (uint32_t)Command;
} else {
uint8_t result = 1;
if (TransferType == FW) {
switch (currentProgrammingDestination) {
case Self_flash:
result = PIOS_BL_HELPER_FLASH_Start();
break;
case Remote_flash_via_spi:
result = false;
break;
default:
break;
}
}
if (result != 1) {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t)Command;
} else {
DeviceState = uploading;
}
}
} else if ((StartFlag != 1) && (Next_Packet != 0)) {
if (Count > SizeOfTransfer) {
DeviceState = too_many_packets;
Aditionals = Count;
} else if (Count == Next_Packet - 1) {
uint8_t numberOfWords = 14;
if (Count == SizeOfTransfer - 1) { // is this the last packet?
numberOfWords = SizeOfLastPacket;
}
uint8_t result = 0;
uint32_t offset;
uint32_t aux;;
switch (currentProgrammingDestination) {
case Self_flash:
for (uint8_t x = 0; x < numberOfWords; ++x) {
offset = 4 * x;
Data = unpack_uint32(&xReceive_Buffer[DATA + offset]);
aux = baseOfAdressType(TransferType) + (uint32_t)(
Count * 14 * 4 + x * 4);
result = 0;
for (int retry = 0; retry < MAX_WRI_RETRYS; ++retry) {
if (result == 0) {
result = (FLASH_ProgramWord(aux, Data)
== FLASH_COMPLETE) ? 1 : 0;
}
}
}
break;
case Remote_flash_via_spi:
result = false; // No support for this for the OPLink Mini
break;
default:
result = 0;
break;
}
if (result != 1) {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t)Command;
}
++Next_Packet;
} else {
DeviceState = wrong_packet_received;
Aditionals = Count;
}
} else {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t)Command;
}
}
break;
case Req_Capabilities:
OPDfuIni(true);
Buffer[0] = 0x01;
Buffer[1] = Rep_Capabilities;
if (Data0 == 0) {
Buffer[2] = 0;
Buffer[3] = 0;
Buffer[4] = 0;
Buffer[5] = 0;
Buffer[6] = 0;
Buffer[7] = numberOfDevices;
uint16_t WRFlags = 0;
for (int x = 0; x < numberOfDevices; ++x) {
WRFlags = ((devicesTable[x].readWriteFlags << (x * 2))
| WRFlags);
}
Buffer[8] = WRFlags >> 8;
Buffer[9] = WRFlags;
} else {
pack_uint32(devicesTable[Data0 - 1].sizeOfCode, &Buffer[2]);
Buffer[6] = Data0;
Buffer[7] = devicesTable[Data0 - 1].BL_Version;
Buffer[8] = devicesTable[Data0 - 1].sizeOfDescription;
Buffer[9] = devicesTable[Data0 - 1].devID;
pack_uint32(devicesTable[Data0 - 1].FW_Crc, &Buffer[10]);
Buffer[14] = devicesTable[Data0 - 1].devID >> 8;
Buffer[15] = devicesTable[Data0 - 1].devID;
}
sendData(Buffer + 1, 63);
break;
case JumpFW:
if (Data == 0x5AFE) {
/* Force board into safe mode */
PIOS_IAP_WriteBootCount(0xFFFF);
}
// pass any Opt value to the firmware
PIOS_IAP_WriteBootCmd(0, Opt[0]);
PIOS_IAP_WriteBootCmd(1, Opt[1]);
PIOS_IAP_WriteBootCmd(2, Opt[2]);
FLASH_Lock();
JumpToApp = 1;
break;
case Reset:
PIOS_SYS_Reset();
break;
case Abort_Operation:
Next_Packet = 0;
DeviceState = DFUidle;
break;
case Op_END:
if (DeviceState == uploading) {
if (Next_Packet - 1 == SizeOfTransfer) {
Next_Packet = 0;
if ((TransferType != FW) || (Expected_CRC == CalcFirmCRC())) {
DeviceState = Last_operation_Success;
} else {
DeviceState = CRC_Fail;
}
}
if (Next_Packet - 1 < SizeOfTransfer) {
Next_Packet = 0;
DeviceState = too_few_packets;
}
}
break;
case Download_Req:
if (DeviceState == DFUidle) {
downType = Data0;
downPacketTotal = Count;
downSizeOfLastPacket = Data1;
if (isBiggerThanAvailable(downType, (downPacketTotal - 1) * 14
+ downSizeOfLastPacket) == 1) {
DeviceState = outsideDevCapabilities;
Aditionals = (uint32_t)Command;
} else {
downPacketCurrent = 0;
DeviceState = downloading;
}
} else {
DeviceState = Last_operation_failed;
Aditionals = (uint32_t)Command;
}
break;
case Status_Request:
Buffer[0] = 0x01;
Buffer[1] = Status_Rep;
if (DeviceState == wrong_packet_received) {
pack_uint32(Aditionals, &Buffer[2]);
} else {
Buffer[2] = 0;
Buffer[3] = ((uint16_t)Aditionals) >> 8;
Buffer[4] = ((uint16_t)Aditionals);
Buffer[5] = 0;
}
Buffer[6] = DeviceState;
Buffer[7] = 0;
Buffer[8] = 0;
Buffer[9] = 0;
sendData(Buffer + 1, 63);
if (DeviceState == Last_operation_Success) {
DeviceState = DFUidle;
}
break;
case Status_Rep:
break;
}
if (EchoReqFlag == 1) {
echoBuffer[1] = echoBuffer[1] | EchoAnsFlag;
sendData(echoBuffer + 1, 63);
}
}
void OPDfuIni(uint8_t discover)
{
const struct pios_board_info *bdinfo = &pios_board_info_blob;
Device dev;
dev.programmingType = Self_flash;
dev.readWriteFlags = (BOARD_READABLE | (BOARD_WRITABLE << 1));
dev.startOfUserCode = bdinfo->fw_base;
dev.sizeOfCode = bdinfo->fw_size;
dev.sizeOfDescription = bdinfo->desc_size;
dev.BL_Version = bdinfo->bl_rev;
dev.FW_Crc = CalcFirmCRC();
dev.devID = (bdinfo->board_type << 8) | (bdinfo->board_rev);
dev.devType = bdinfo->hw_type;
numberOfDevices = 1;
devicesTable[0] = dev;
if (discover) {
// TODO check other devices trough spi or whatever
}
}
uint32_t baseOfAdressType(DFUTransfer type)
{
switch (type) {
case FW:
return currentDevice.startOfUserCode;
break;
case Descript:
return currentDevice.startOfUserCode + currentDevice.sizeOfCode;
break;
default:
return 0;
}
}
uint8_t isBiggerThanAvailable(DFUTransfer type, uint32_t size)
{
switch (type) {
case FW:
return (size > currentDevice.sizeOfCode) ? 1 : 0;
break;
case Descript:
return (size > currentDevice.sizeOfDescription) ? 1 : 0;
break;
default:
return true;
}
}
uint32_t CalcFirmCRC()
{
switch (currentProgrammingDestination) {
case Self_flash:
return PIOS_BL_HELPER_CRC_Memory_Calc();
break;
case Remote_flash_via_spi:
return 0;
break;
default:
return 0;
break;
}
}
void sendData(uint8_t *buf, uint16_t size)
{
platform_senddata(buf, size);
}
bool flash_read(uint8_t *buffer, uint32_t adr, DFUProgType type)
{
switch (type) {
case Remote_flash_via_spi:
return false; // We should not get this for the OPLink Mini
break;
case Self_flash:
for (uint8_t x = 0; x < 4; ++x) {
buffer[x] = *PIOS_BL_HELPER_FLASH_If_Read(adr + x);
}
return true;
break;
default:
return false;
}
}
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