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 5b6c8f5a90ea5b23e522965ed5c7a3cb4f90ec50..2a10496e6c31239e44bf70d3b8153b1086900914 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
@@ -48,8 +48,6 @@
#include "crtp.h"
#include "static_mem.h"
-#include "debug.h"
-
#include "bootloader.h"
@@ -183,15 +181,9 @@ static uint8_t usbd_cf_Setup(void *pdev , USB_SETUP_REQ *req)
}
} else if(command == 0x02){
//restart system and transition to DFU bootloader mode
-
-
//enter bootloader specific to STM32f4xx
enter_bootloader(0, 0x00000000);
-
-
- }
-
- else {
+ } else {
crtpSetLink(radiolinkGetLink());
}
return USBD_OK;
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
index 67bd7d069aaac190933fb8703fdce7f07ee03084..cb993271edb973dc1a90a0ea0dfd3bba00817958 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/interface/bootloader.h
@@ -1,12 +1,49 @@
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie Firmware
+ *
+ * Copyright (C) Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ *
+ * @file bootloader.h
+ * Functions to handle transitioning from the firmware to bootloader (DFU) mode on startup
+ *
+ */
-/* FreeRtos includes */
-#include "FreeRTOS.h"
/* ST includes */
#include "stm32f4xx.h"
-
-void branch_to_bootloader(uint32_t r0, uint32_t bl_addr);
-
+/**
+ * @brief Check if memory is set after software
+ * reboot indicating we need to branch to the bootloader.
+ * Run everytime on startup.
+ */
void check_enter_bootloader();
+/**
+ * @brief Initiate the procedure to reboot into the bootloader.
+ *
+ * This function does not return, instead setting a flag to
+ * jump to the bootloader on the next start and
+ * issuing a software reset.
+ *
+ * @param r0 The register to utilize when jumping
+ * @param bl_addr The bootloader address to jump to
+ */
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
index eb5fdfb267340116a4dcfc472ba7ac0c5ccca153..57e168c9ad8d868718c300b77e7cb9b31a9b6daa 100644
--- a/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c
+++ b/crazyflie_software/crazyflie-firmware-2021.06/src/modules/src/bootloader.c
@@ -1,6 +1,34 @@
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie Firmware
+ *
+ * Copyright (C) Bitcraze AB
+ *
+ * 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, in version 3.
+ *
+ * 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, see <http://www.gnu.org/licenses/>.
+ *
+ * @file bootloader.c
+ * Functions to handle transitioning from the firmware to bootloader (DFU) mode on startup
+ *
+ */
+
#include "bootloader.h"
-//bootloader code used from micropython machine_bootloader
+// bootloader code based from micropython machine_bootloader function
// STM32H7 has ECC and writes to RAM must be 64-bit so they are fully committed
// to actual SRAM before a system reset occurs.
@@ -15,7 +43,15 @@
#define BL_STATE_GET_ADDR(s) (((s) >> BL_STATE_KEY_SHIFT) & ~BL_STATE_KEY_MASK)
-void branch_to_bootloader(uint32_t r0, uint32_t bl_addr){
+/**
+ * @brief Branch directly to the bootloader address, setting the
+ * stack pointer and destination address first.
+ * Based from the micropython machine_bootloader function.
+ *
+ * @param r0 The register to utilize
+ * @param bl_addr The bootloader address to jump to
+ */
+static 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
@@ -26,15 +62,13 @@ void branch_to_bootloader(uint32_t r0, uint32_t bl_addr){
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
+ //if botloader data valid and was just reset with NVIC_SystemReset
//remap memory to system flash
SYSCFG_MemoryRemapConfig(SYSCFG_MemoryRemap_SystemFlash);