From 16c31bcb017a42d74be81a8c5f9b546dfd0d6c1f Mon Sep 17 00:00:00 2001
From: crglick <crglick@iastate.edu>
Date: Wed, 9 Feb 2022 21:13:10 -0600
Subject: [PATCH] Added bootloader.c files
---
.../crazyflie-firmware-2021.06/Makefile | 1 +
.../src/hal/src/usb.c | 21 ++------
.../src/init/main.c | 4 ++
.../src/modules/interface/bootloader.h | 12 +++++
.../src/modules/src/bootloader.c | 52 +++++++++++++++++++
5 files changed, 74 insertions(+), 16 deletions(-)
create mode 100644 crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h
create mode 100644 crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/Makefile b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
index c2c764a02..92c3c0f3a 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/Makefile
+++ b/crazyflie_software/crazyflie-firmware-2021.06/Makefile
@@ -166,6 +166,7 @@ PROJ_OBJ += vl53l1_register_funcs.o vl53l1_wait.o vl53l1_core_support.o
# Modules
PROJ_OBJ += system.o comm.o console.o pid.o crtpservice.o param.o
+PROJ_OBJ += bootloader.o
PROJ_OBJ += log.o worker.o queuemonitor.o msp.o
PROJ_OBJ += platformservice.o sound_cf2.o extrx.o sysload.o mem.o
PROJ_OBJ += range.o app_handler.o static_mem.o app_channel.o
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c b/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
index 8de5d6748..ff8ccc7cd 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/hal/src/usb.c
@@ -50,6 +50,8 @@
#include "debug.h"
+#include "bootloader.h"
+
NO_DMA_CCM_SAFE_ZERO_INIT __ALIGN_BEGIN USB_OTG_CORE_HANDLE USB_OTG_dev __ALIGN_END ;
@@ -180,23 +182,10 @@ static uint8_t usbd_cf_Setup(void *pdev , USB_SETUP_REQ *req)
rxStopped = false;
}
} else if(command == 0x02){
- //transition to DFU bootloader mode
-
- //shutdown any tasks running
- RCC_DeInit();
- SysTick->CTRL = 0; //reset the Systick timer
- SysTick->LOAD = 0;
- SysTick->VAL = 0;
-
- __set_PRIMASK(1); //disable interrupts
-
- SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SystemFlash);
-
- //set main stack pointer to its default value
- __set_MSP(*((uint32_t*) 0x00000000));
+ //restart system and transition to DFU bootloader mode
- //jump to boot loader (start of system memory plus 4)
- ((void (*)(void)) *((uint32_t*) 0x00000004))();
+ //enter bootloader specific to STM32f4xx
+ enter_bootloader(0, 0x00000000);
while(1);
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/init/main.c b/crazyflie_software/crazyflie-firmware-2021.06/src/init/main.c
index 83c2e3e26..1faf554a5 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/init/main.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/init/main.c
@@ -42,8 +42,12 @@
/* ST includes */
#include "stm32fxxx.h"
+#include "bootloader.h"
+
int main()
{
+ check_enter_bootloader();
+
//Initialize the platform.
int err = platformInit();
if (err != 0) {
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h
new file mode 100644
index 000000000..67bd7d069
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h
@@ -0,0 +1,12 @@
+
+/* FreeRtos includes */
+#include "FreeRTOS.h"
+/* ST includes */
+#include "stm32f4xx.h"
+
+
+void branch_to_bootloader(uint32_t r0, uint32_t bl_addr);
+
+void check_enter_bootloader();
+
+void enter_bootloader(uint32_t r0, uint32_t bl_addr);
\ No newline at end of file
diff --git a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c
new file mode 100644
index 000000000..233ca2c54
--- /dev/null
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c
@@ -0,0 +1,52 @@
+#include "bootloader.h"
+
+//bootloader code used from micropython machine_bootloader
+
+// Location in RAM of bootloader state (just after the top of the stack).
+// STM32H7 has ECC and writes to RAM must be 64-bit so they are fully committed
+// to actual SRAM before a system reset occurs.
+#define BL_STATE_PTR ((uint64_t *)&_estack)
+#define BL_STATE_KEY (0x5a5) //arbitrary bit pattern used as marker
+#define BL_STATE_KEY_MASK (0xfff)
+#define BL_STATE_KEY_SHIFT (32)
+#define BL_STATE_INVALID (0)
+#define BL_STATE_VALID(reg, addr) ((uint64_t)(reg) | ((uint64_t)((addr) | BL_STATE_KEY)) << BL_STATE_KEY_SHIFT)
+#define BL_STATE_GET_REG(s) ((s) & 0xffffffff)
+#define BL_STATE_GET_KEY(s) (((s) >> BL_STATE_KEY_SHIFT) & BL_STATE_KEY_MASK)
+#define BL_STATE_GET_ADDR(s) (((s) >> BL_STATE_KEY_SHIFT) & ~BL_STATE_KEY_MASK)
+extern uint64_t _estack[];
+
+
+void branch_to_bootloader(uint32_t r0, uint32_t bl_addr){
+ __asm volatile (
+ "ldr r2, [r1, #0]\n" // get address of stack pointer
+ "msr msp, r2\n" // get stack pointer
+ "ldr r2, [r1, #4]\n" // get address of destination
+ "bx r2\n" // branch to bootloader
+ );
+ //unreachable code
+ while(1);
+}
+
+//check if memory is set after software reboot indicating we need to branch to the bootloader
+void check_enter_bootloader(){
+ uint64_t bl_state = *BL_STATE_PTR;
+ //set to invalid for next boot
+ *BL_STATE_PTR = BL_STATE_INVALID;
+
+ //TODO test if statement
+ if(BL_STATE_GET_KEY(bl_state) == BL_STATE_KEY && (RCC->CSR & RCC_CSR_SFTRSTF)){
+ //botloader data valid and was just reset with NVIC_SystemReset
+
+ //remap memory to system flash
+ SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SystemFlash);
+ branch_to_bootloader(BL_STATE_GET_REG(bl_state), BL_STATE_GET_ADDR(bl_state));
+ }
+}
+
+void enter_bootloader(uint32_t r0, uint32_t bl_addr){
+ //set bootloader state values
+ *BL_STATE_PTR = BL_STATE_VALID(r0, bl_addr);
+
+ NVIC_SystemReset();
+}
\ No newline at end of file
--
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