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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 11:30:41 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 11:50:10 +0200 |
commit | 574e76532126fea8ab0ac5fd0595f6fb2935f0dd (patch) | |
tree | d6cde0e97036de5e7c1a1b325444d4540e995cd0 /src/systemcmds/bl_update | |
parent | 51badab96ddd4273595cf49e494375d7f2235708 (diff) | |
download | px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.tar.gz px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.tar.bz2 px4-firmware-574e76532126fea8ab0ac5fd0595f6fb2935f0dd.zip |
Moved all system commands to the new world
Diffstat (limited to 'src/systemcmds/bl_update')
-rw-r--r-- | src/systemcmds/bl_update/bl_update.c | 215 | ||||
-rw-r--r-- | src/systemcmds/bl_update/module.mk | 43 |
2 files changed, 258 insertions, 0 deletions
diff --git a/src/systemcmds/bl_update/bl_update.c b/src/systemcmds/bl_update/bl_update.c new file mode 100644 index 000000000..0569d89f5 --- /dev/null +++ b/src/systemcmds/bl_update/bl_update.c @@ -0,0 +1,215 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * 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 + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @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); + +}
\ No newline at end of file diff --git a/src/systemcmds/bl_update/module.mk b/src/systemcmds/bl_update/module.mk new file mode 100644 index 000000000..e8eea045e --- /dev/null +++ b/src/systemcmds/bl_update/module.mk @@ -0,0 +1,43 @@ +############################################################################ +# +# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# 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 +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +# +# Bootloader updater (flashes the FMU USB bootloader software) +# + +MODULE_COMMAND = bl_update +SRCS = bl_update.c + +MODULE_STACKSIZE = 4096 + +MAXOPTIMIZATION = -Os |