/****************************************************************************
*
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
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* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
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****************************************************************************/
/**
* @file bl_update.c
*
* STM32F4 bootloader update tool.
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <stdbool.h>
#include <unistd.h>
#include <fcntl.h>
#include <sys/stat.h>
#include <arch/board/board.h>
#include "systemlib/systemlib.h"
#include "systemlib/err.h"
__EXPORT int bl_update_main(int argc, char *argv[]);
static void setopt(void);
int
bl_update_main(int argc, char *argv[])
{
if (argc != 2)
errx(1, "missing firmware filename or command");
if (!strcmp(argv[1], "setopt"))
setopt();
int fd = open(argv[1], O_RDONLY);
if (fd < 0)
err(1, "open %s", argv[1]);
struct stat s;
if (stat(argv[1], &s) < 0)
err(1, "stat %s", argv[1]);
/* sanity-check file size */
if (s.st_size > 16384)
errx(1, "%s: file too large", argv[1]);
uint8_t *buf = malloc(s.st_size);
if (buf == NULL)
errx(1, "failed to allocate %u bytes for firmware buffer", s.st_size);
if (read(fd, buf, s.st_size) != s.st_size)
err(1, "firmware read error");
close(fd);
uint32_t *hdr = (uint32_t *)buf;
if ((hdr[0] < 0x20000000) || /* stack not below RAM */
(hdr[0] > (0x20000000 + (128 * 1024))) || /* stack not above RAM */
(hdr[1] < 0x08000000) || /* entrypoint not below flash */
((hdr[1] - 0x08000000) > 16384)) { /* entrypoint not outside bootloader */
free(buf);
errx(1, "not a bootloader image");
}
warnx("image validated, erasing bootloader...");
usleep(10000);
/* prevent other tasks from running while we do this */
sched_lock();
/* unlock the control register */
volatile uint32_t *keyr = (volatile uint32_t *)0x40023c04;
*keyr = 0x45670123U;
*keyr = 0xcdef89abU;
volatile uint32_t *sr = (volatile uint32_t *)0x40023c0c;
volatile uint32_t *cr = (volatile uint32_t *)0x40023c10;
volatile uint8_t *base = (volatile uint8_t *)0x08000000;
/* check the control register */
if (*cr & 0x80000000) {
warnx("WARNING: flash unlock failed, flash aborted");
goto flash_end;
}
/* erase the bootloader sector */
*cr = 0x2;
*cr = 0x10002;
/* wait for the operation to complete */
while (*sr & 0x1000) {
}
if (*sr & 0xf2) {
warnx("WARNING: erase error 0x%02x", *sr);
goto flash_end;
}
/* verify the erase */
for (int i = 0; i < s.st_size; i++) {
if (base[i] != 0xff) {
warnx("WARNING: erase failed at %d - retry update, DO NOT reboot", i);
goto flash_end;
}
}
warnx("flashing...");
/* now program the bootloader - speed is not critical so use x8 mode */
for (int i = 0; i < s.st_size; i++) {
/* program a byte */
*cr = 1;
base[i] = buf[i];
/* wait for the operation to complete */
while (*sr & 0x1000) {
}
if (*sr & 0xf2) {
warnx("WARNING: program error 0x%02x", *sr);
goto flash_end;
}
}
/* re-lock the flash control register */
*cr = 0x80000000;
warnx("verifying...");
/* now run a verify pass */
for (int i = 0; i < s.st_size; i++) {
if (base[i] != buf[i]) {
warnx("WARNING: verify failed at %u - retry update, DO NOT reboot", i);
goto flash_end;
}
}
warnx("bootloader update complete");
flash_end:
/* unlock the scheduler */
sched_unlock();
free(buf);
exit(0);
}
static void
setopt(void)
{
volatile uint32_t *optcr = (volatile uint32_t *)0x40023c14;
const uint16_t opt_mask = (3 << 2); /* BOR_LEV bitmask */
const uint16_t opt_bits = (0 << 2); /* BOR = 0, setting for 2.7-3.6V operation */
if ((*optcr & opt_mask) == opt_bits)
errx(0, "option bits are already set as required");
/* unlock the control register */
volatile uint32_t *optkeyr = (volatile uint32_t *)0x40023c08;
*optkeyr = 0x08192a3bU;
*optkeyr = 0x4c5d6e7fU;
if (*optcr & 1)
errx(1, "option control register unlock failed");
/* program the new option value */
*optcr = (*optcr & ~opt_mask) | opt_bits | (1 << 1);
usleep(1000);
if ((*optcr & opt_mask) == opt_bits)
errx(0, "option bits set");
errx(1, "option bits setting failed; readback 0x%04x", *optcr);
}
