2018-03-28 21:45:13 -03:00
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/*
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bootloader support functions
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "ch.h"
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#include "hal.h"
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#include "hwdef.h"
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#include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
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#include <AP_HAL_ChibiOS/hwdef/common/flash.h>
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2018-06-21 03:41:07 -03:00
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#include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
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2020-07-14 18:31:14 -03:00
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#include <AP_Math/AP_Math.h>
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2018-03-28 21:45:13 -03:00
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#include "support.h"
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2019-05-26 22:38:46 -03:00
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#include "mcu_f1.h"
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2019-10-31 08:00:27 -03:00
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#include "mcu_f3.h"
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2018-06-21 03:41:07 -03:00
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#include "mcu_f4.h"
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#include "mcu_f7.h"
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2019-02-03 05:23:56 -04:00
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#include "mcu_h7.h"
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2021-03-09 02:44:37 -04:00
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#include "mcu_g4.h"
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2021-09-19 03:37:50 -03:00
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#include "mcu_l4.h"
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2018-03-28 21:45:13 -03:00
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2019-05-26 22:38:46 -03:00
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// optional uprintf() code for debug
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// #define BOOTLOADER_DEBUG SD1
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#if defined(BOOTLOADER_DEV_LIST)
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2018-06-25 00:39:22 -03:00
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static BaseChannel *uarts[] = { BOOTLOADER_DEV_LIST };
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2018-06-25 03:08:51 -03:00
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#if HAL_USE_SERIAL == TRUE
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2018-06-25 00:39:22 -03:00
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static SerialConfig sercfg;
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2018-06-25 03:08:51 -03:00
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#endif
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2018-06-25 00:39:22 -03:00
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static int8_t locked_uart = -1;
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static uint8_t last_uart;
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2018-06-25 03:08:51 -03:00
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#ifndef BOOTLOADER_BAUDRATE
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#define BOOTLOADER_BAUDRATE 115200
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#endif
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2019-02-08 01:37:03 -04:00
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// #pragma GCC optimize("O0")
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2021-03-16 03:20:49 -03:00
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static bool cin_data(uint8_t *data, uint8_t len, unsigned timeout_ms)
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2018-03-28 21:45:13 -03:00
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{
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2018-08-02 20:27:17 -03:00
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for (uint8_t i=0; i<ARRAY_SIZE(uarts); i++) {
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2018-06-25 00:39:22 -03:00
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if (locked_uart == -1 || locked_uart == i) {
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2021-03-16 03:20:49 -03:00
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if (chnReadTimeout(uarts[i], data, len, chTimeMS2I(timeout_ms)) == len) {
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2018-06-25 00:39:22 -03:00
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last_uart = i;
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2021-03-16 03:20:49 -03:00
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return true;
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2018-06-25 00:39:22 -03:00
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}
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}
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2018-03-28 21:45:13 -03:00
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}
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2018-06-25 01:10:21 -03:00
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chThdSleepMicroseconds(500);
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2021-03-16 03:20:49 -03:00
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return false;
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}
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int16_t cin(unsigned timeout_ms)
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{
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uint8_t b = 0;
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if (cin_data(&b, 1, timeout_ms)) {
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return b;
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}
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2018-06-25 00:39:22 -03:00
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return -1;
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2018-03-28 21:45:13 -03:00
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}
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2018-06-24 19:29:54 -03:00
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int cin_word(uint32_t *wp, unsigned timeout_ms)
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{
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2021-03-16 03:20:49 -03:00
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if (cin_data((uint8_t *)wp, 4, timeout_ms)) {
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return 0;
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2018-06-24 19:29:54 -03:00
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}
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2018-06-25 00:39:22 -03:00
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return -1;
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2018-06-24 19:29:54 -03:00
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}
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2018-03-28 21:45:13 -03:00
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void cout(uint8_t *data, uint32_t len)
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{
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2018-08-02 04:02:55 -03:00
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chnWriteTimeout(uarts[last_uart], data, len, chTimeMS2I(100));
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2018-03-28 21:45:13 -03:00
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}
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2019-05-26 22:38:46 -03:00
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#endif // BOOTLOADER_DEV_LIST
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2018-03-28 21:45:13 -03:00
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static uint32_t flash_base_page;
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2021-03-09 02:44:37 -04:00
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static uint16_t num_pages;
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2020-08-23 17:02:56 -03:00
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static const uint8_t *flash_base = (const uint8_t *)(0x08000000 + (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)*1024U);
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2018-03-28 21:45:13 -03:00
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/*
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initialise flash_base_page and num_pages
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*/
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void flash_init(void)
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{
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uint32_t reserved = 0;
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num_pages = stm32_flash_getnumpages();
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2020-04-12 01:47:25 -03:00
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/*
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2020-08-23 17:02:56 -03:00
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advance flash_base_page to account for (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB)
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2020-04-12 01:47:25 -03:00
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*/
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2020-08-23 17:02:56 -03:00
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while (reserved < (FLASH_BOOTLOADER_LOAD_KB + APP_START_OFFSET_KB) * 1024U &&
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2018-03-28 21:45:13 -03:00
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flash_base_page < num_pages) {
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reserved += stm32_flash_getpagesize(flash_base_page);
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flash_base_page++;
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}
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2020-04-12 01:47:25 -03:00
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/*
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reduce num_pages to account for FLASH_RESERVE_END_KB
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*/
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reserved = 0;
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while (reserved < FLASH_RESERVE_END_KB * 1024U) {
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reserved += stm32_flash_getpagesize(num_pages-1);
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num_pages--;
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}
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2018-03-28 21:45:13 -03:00
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}
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2018-06-24 19:29:54 -03:00
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void flash_set_keep_unlocked(bool set)
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{
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stm32_flash_keep_unlocked(set);
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}
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2018-03-28 21:45:13 -03:00
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/*
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2020-08-23 17:02:56 -03:00
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read a word at offset relative to flash base
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2018-03-28 21:45:13 -03:00
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*/
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2021-06-26 04:49:34 -03:00
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#pragma GCC diagnostic push
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#pragma GCC diagnostic ignored "-Wcast-align"
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2018-03-28 21:45:13 -03:00
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uint32_t flash_func_read_word(uint32_t offset)
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{
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return *(const uint32_t *)(flash_base + offset);
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}
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2021-08-22 05:33:00 -03:00
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#pragma GCC diagnostic pop
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2018-03-28 21:45:13 -03:00
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2019-02-03 21:42:16 -04:00
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bool flash_func_write_word(uint32_t offset, uint32_t v)
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2018-03-28 21:45:13 -03:00
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{
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2019-02-03 21:42:16 -04:00
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return stm32_flash_write(uint32_t(flash_base+offset), &v, sizeof(v));
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}
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bool flash_func_write_words(uint32_t offset, uint32_t *v, uint8_t n)
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{
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return stm32_flash_write(uint32_t(flash_base+offset), v, n*sizeof(*v));
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2018-03-28 21:45:13 -03:00
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}
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uint32_t flash_func_sector_size(uint32_t sector)
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{
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2019-01-06 01:13:44 -04:00
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if (sector >= num_pages-flash_base_page) {
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2018-03-28 21:45:13 -03:00
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return 0;
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}
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return stm32_flash_getpagesize(flash_base_page+sector);
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}
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2022-10-06 21:14:38 -03:00
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bool flash_func_erase_sector(uint32_t sector, bool force_erase)
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2018-03-28 21:45:13 -03:00
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{
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2022-10-06 21:14:38 -03:00
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if (force_erase || !stm32_flash_ispageerased(flash_base_page+sector)) {
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2019-02-06 17:11:32 -04:00
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return stm32_flash_erasepage(flash_base_page+sector);
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2018-06-24 21:33:28 -03:00
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}
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2019-02-06 17:11:32 -04:00
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return true;
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2018-03-28 21:45:13 -03:00
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}
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2018-06-21 03:41:07 -03:00
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// read one-time programmable memory
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2018-03-28 21:45:13 -03:00
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uint32_t flash_func_read_otp(uint32_t idx)
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{
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2019-02-03 05:23:56 -04:00
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#ifndef OTP_SIZE
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return 0;
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#else
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2018-06-21 03:41:07 -03:00
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if (idx & 3) {
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return 0;
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}
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if (idx > OTP_SIZE) {
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return 0;
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}
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return *(uint32_t *)(idx + OTP_BASE);
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2019-02-03 05:23:56 -04:00
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#endif
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2018-03-28 21:45:13 -03:00
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}
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2018-06-21 03:41:07 -03:00
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// read chip serial number
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2018-03-28 21:45:13 -03:00
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uint32_t flash_func_read_sn(uint32_t idx)
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{
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2018-06-21 03:41:07 -03:00
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return *(uint32_t *)(UDID_START + idx);
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2018-03-28 21:45:13 -03:00
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}
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2020-07-14 18:31:14 -03:00
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/*
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we use a write buffer for flashing, both for efficiency and to
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ensure that we only ever do 32 byte aligned writes on STM32H7. If
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you attempt to do writes on a H7 of less than 32 bytes or not
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aligned then the flash can end up in a CRC error state, which can
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generate a hardware fault (a double ECC error) on flash read, even
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after a power cycle
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*/
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static struct {
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uint32_t buffer[8];
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uint32_t address;
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uint8_t n;
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} fbuf;
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/*
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flush the write buffer
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*/
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bool flash_write_flush(void)
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{
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if (fbuf.n == 0) {
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return true;
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}
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fbuf.n = 0;
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return flash_func_write_words(fbuf.address, fbuf.buffer, ARRAY_SIZE(fbuf.buffer));
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}
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/*
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write to flash with buffering to 32 bytes alignment
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*/
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bool flash_write_buffer(uint32_t address, const uint32_t *v, uint8_t nwords)
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{
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if (fbuf.n > 0 && address != fbuf.address + fbuf.n*4) {
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if (!flash_write_flush()) {
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return false;
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}
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}
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while (nwords > 0) {
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if (fbuf.n == 0) {
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fbuf.address = address;
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memset(fbuf.buffer, 0xff, sizeof(fbuf.buffer));
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}
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uint8_t n = MIN(ARRAY_SIZE(fbuf.buffer)-fbuf.n, nwords);
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memcpy(&fbuf.buffer[fbuf.n], v, n*4);
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address += n*4;
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v += n;
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nwords -= n;
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fbuf.n += n;
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if (fbuf.n == ARRAY_SIZE(fbuf.buffer)) {
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if (!flash_write_flush()) {
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return false;
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}
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}
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}
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return true;
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}
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2018-03-28 21:45:13 -03:00
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uint32_t get_mcu_id(void)
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{
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2018-06-21 03:41:07 -03:00
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return *(uint32_t *)DBGMCU_BASE;
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2018-03-28 21:45:13 -03:00
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}
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2018-06-21 03:41:07 -03:00
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#define REVID_MASK 0xFFFF0000
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#define DEVID_MASK 0xFFF
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uint32_t get_mcu_desc(uint32_t max, uint8_t *revstr)
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2018-03-28 21:45:13 -03:00
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{
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2018-06-21 03:41:07 -03:00
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uint32_t idcode = (*(uint32_t *)DBGMCU_BASE);
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int32_t mcuid = idcode & DEVID_MASK;
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uint16_t revid = ((idcode & REVID_MASK) >> 16);
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mcu_des_t des = mcu_descriptions[STM32_UNKNOWN];
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2023-02-15 20:19:32 -04:00
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for (const auto &desc : mcu_descriptions) {
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if (mcuid == desc.mcuid) {
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des = desc;
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2018-06-21 03:41:07 -03:00
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break;
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}
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}
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2023-02-15 20:19:32 -04:00
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for (const auto &rev : silicon_revs) {
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if (rev.revid == revid) {
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des.rev = rev.rev;
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2018-06-21 03:41:07 -03:00
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}
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}
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uint8_t *endp = &revstr[max - 1];
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uint8_t *strp = revstr;
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while (strp < endp && *des.desc) {
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*strp++ = *des.desc++;
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}
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if (strp < endp) {
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*strp++ = ',';
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}
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if (strp < endp) {
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*strp++ = des.rev;
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}
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return strp - revstr;
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2018-03-28 21:45:13 -03:00
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}
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void led_on(unsigned led)
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{
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#ifdef HAL_GPIO_PIN_LED_BOOTLOADER
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if (led == LED_BOOTLOADER) {
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palWriteLine(HAL_GPIO_PIN_LED_BOOTLOADER, HAL_LED_ON);
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}
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#endif
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#ifdef HAL_GPIO_PIN_LED_ACTIVITY
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if (led == LED_ACTIVITY) {
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palWriteLine(HAL_GPIO_PIN_LED_ACTIVITY, HAL_LED_ON);
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}
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#endif
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}
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void led_off(unsigned led)
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{
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#ifdef HAL_GPIO_PIN_LED_BOOTLOADER
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if (led == LED_BOOTLOADER) {
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palWriteLine(HAL_GPIO_PIN_LED_BOOTLOADER, !HAL_LED_ON);
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}
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#endif
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#ifdef HAL_GPIO_PIN_LED_ACTIVITY
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if (led == LED_ACTIVITY) {
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palWriteLine(HAL_GPIO_PIN_LED_ACTIVITY, !HAL_LED_ON);
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}
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#endif
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}
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void led_toggle(unsigned led)
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{
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#ifdef HAL_GPIO_PIN_LED_BOOTLOADER
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if (led == LED_BOOTLOADER) {
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palToggleLine(HAL_GPIO_PIN_LED_BOOTLOADER);
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}
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#endif
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#ifdef HAL_GPIO_PIN_LED_ACTIVITY
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if (led == LED_ACTIVITY) {
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palToggleLine(HAL_GPIO_PIN_LED_ACTIVITY);
|
|
|
|
}
|
|
|
|
#endif
|
|
|
|
}
|
|
|
|
|
|
|
|
extern "C" {
|
|
|
|
int vsnprintf(char *str, size_t size, const char *fmt, va_list ap);
|
|
|
|
}
|
|
|
|
|
|
|
|
// printf to USB for debugging
|
|
|
|
void uprintf(const char *fmt, ...)
|
|
|
|
{
|
2019-02-08 03:55:27 -04:00
|
|
|
#ifdef BOOTLOADER_DEBUG
|
2018-03-28 21:45:13 -03:00
|
|
|
va_list ap;
|
2019-02-08 01:37:03 -04:00
|
|
|
static bool initialised;
|
2019-05-26 22:38:46 -03:00
|
|
|
static SerialConfig debug_sercfg;
|
2019-02-08 01:37:03 -04:00
|
|
|
char umsg[200];
|
|
|
|
if (!initialised) {
|
|
|
|
initialised = true;
|
2019-05-26 22:38:46 -03:00
|
|
|
debug_sercfg.speed = 57600;
|
|
|
|
sdStart(&BOOTLOADER_DEBUG, &debug_sercfg);
|
2019-02-08 01:37:03 -04:00
|
|
|
}
|
2018-03-28 21:45:13 -03:00
|
|
|
va_start(ap, fmt);
|
2019-02-08 01:37:03 -04:00
|
|
|
uint32_t n = vsnprintf(umsg, sizeof(umsg), fmt, ap);
|
2018-03-28 21:45:13 -03:00
|
|
|
va_end(ap);
|
2019-10-19 17:29:26 -03:00
|
|
|
if (n > sizeof(umsg)) {
|
|
|
|
n = sizeof(umsg);
|
|
|
|
}
|
|
|
|
chnWriteTimeout(&BOOTLOADER_DEBUG, (const uint8_t *)umsg, n, chTimeMS2I(100));
|
2018-07-08 18:39:55 -03:00
|
|
|
#endif
|
2018-03-28 21:45:13 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
// generate a pulse sequence forever, for debugging
|
|
|
|
void led_pulses(uint8_t npulses)
|
|
|
|
{
|
|
|
|
led_off(LED_BOOTLOADER);
|
|
|
|
while (true) {
|
|
|
|
for (uint8_t i=0; i<npulses; i++) {
|
|
|
|
led_on(LED_BOOTLOADER);
|
|
|
|
chThdSleepMilliseconds(200);
|
|
|
|
led_off(LED_BOOTLOADER);
|
|
|
|
chThdSleepMilliseconds(200);
|
|
|
|
}
|
|
|
|
chThdSleepMilliseconds(2000);
|
|
|
|
}
|
|
|
|
}
|
2018-06-18 18:13:10 -03:00
|
|
|
|
|
|
|
//simple variant of std c function to reduce used flash space
|
|
|
|
void *memcpy(void *dest, const void *src, size_t n)
|
|
|
|
{
|
|
|
|
uint8_t *tdest = (uint8_t *)dest;
|
|
|
|
uint8_t *tsrc = (uint8_t *)src;
|
2018-06-21 03:41:07 -03:00
|
|
|
for (int i=0; i<n; i++) {
|
2018-06-18 18:13:10 -03:00
|
|
|
tdest[i] = tsrc[i];
|
|
|
|
}
|
|
|
|
return dest;
|
|
|
|
}
|
|
|
|
|
2018-06-25 00:39:22 -03:00
|
|
|
//simple variant of std c function to reduce used flash space
|
|
|
|
int strncmp(const char *s1, const char *s2, size_t n)
|
|
|
|
{
|
|
|
|
while ((*s1 != 0) && (*s1 == *s2) && n--) {
|
|
|
|
s1++;
|
|
|
|
s2++;
|
|
|
|
}
|
2018-06-27 22:04:59 -03:00
|
|
|
if (n == 0) {
|
|
|
|
return 0;
|
|
|
|
}
|
2018-06-25 00:39:22 -03:00
|
|
|
return (*s1 - *s2);
|
|
|
|
}
|
|
|
|
|
2018-06-18 18:13:10 -03:00
|
|
|
//simple variant of std c function to reduce used flash space
|
|
|
|
int strcmp(const char *s1, const char *s2)
|
|
|
|
{
|
2018-06-21 03:41:07 -03:00
|
|
|
while ((*s1 != 0) && (*s1 == *s2)) {
|
2018-06-18 18:13:10 -03:00
|
|
|
s1++;
|
|
|
|
s2++;
|
|
|
|
}
|
|
|
|
return (*s1 - *s2);
|
|
|
|
}
|
2018-06-24 21:28:40 -03:00
|
|
|
|
2018-06-25 00:39:22 -03:00
|
|
|
//simple variant of std c function to reduce used flash space
|
|
|
|
size_t strlen(const char *s1)
|
|
|
|
{
|
|
|
|
size_t ret = 0;
|
|
|
|
while (*s1++) ret++;
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
//simple variant of std c function to reduce used flash space
|
|
|
|
void *memset(void *s, int c, size_t n)
|
|
|
|
{
|
|
|
|
uint8_t *b = (uint8_t *)s;
|
|
|
|
while (n--) {
|
|
|
|
*b++ = c;
|
|
|
|
}
|
|
|
|
return s;
|
|
|
|
}
|
|
|
|
|
2019-05-26 22:38:46 -03:00
|
|
|
#if defined(BOOTLOADER_DEV_LIST)
|
2018-06-24 21:28:40 -03:00
|
|
|
void lock_bl_port(void)
|
|
|
|
{
|
2018-06-25 00:39:22 -03:00
|
|
|
locked_uart = last_uart;
|
2018-06-24 21:28:40 -03:00
|
|
|
}
|
2018-06-25 00:39:22 -03:00
|
|
|
|
|
|
|
/*
|
|
|
|
initialise serial ports
|
|
|
|
*/
|
|
|
|
void init_uarts(void)
|
|
|
|
{
|
2018-07-08 18:39:55 -03:00
|
|
|
#if HAL_USE_SERIAL_USB == TRUE
|
2018-06-25 00:39:22 -03:00
|
|
|
sduObjectInit(&SDU1);
|
2019-04-10 00:46:18 -03:00
|
|
|
sduStart(&SDU1, &serusbcfg1);
|
2018-06-25 00:39:22 -03:00
|
|
|
|
2019-04-10 00:46:18 -03:00
|
|
|
usbDisconnectBus(serusbcfg1.usbp);
|
2018-06-25 00:39:22 -03:00
|
|
|
chThdSleepMilliseconds(1000);
|
2019-04-10 00:46:18 -03:00
|
|
|
usbStart(serusbcfg1.usbp, &usbcfg);
|
|
|
|
usbConnectBus(serusbcfg1.usbp);
|
2018-06-25 00:39:22 -03:00
|
|
|
#endif
|
|
|
|
|
2018-06-25 03:08:51 -03:00
|
|
|
#if HAL_USE_SERIAL == TRUE
|
2018-06-25 00:39:22 -03:00
|
|
|
sercfg.speed = BOOTLOADER_BAUDRATE;
|
2023-02-15 20:19:32 -04:00
|
|
|
|
|
|
|
for (const auto &uart : uarts) {
|
2018-07-08 18:39:55 -03:00
|
|
|
#if HAL_USE_SERIAL_USB == TRUE
|
2023-02-15 20:19:32 -04:00
|
|
|
if (uart == (BaseChannel *)&SDU1) {
|
2018-06-25 00:39:22 -03:00
|
|
|
continue;
|
|
|
|
}
|
|
|
|
#endif
|
2023-02-15 20:19:32 -04:00
|
|
|
sdStart((SerialDriver *)uart, &sercfg);
|
2018-06-25 00:39:22 -03:00
|
|
|
}
|
2018-06-25 03:08:51 -03:00
|
|
|
#endif
|
2018-06-25 00:39:22 -03:00
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
/*
|
|
|
|
set baudrate on the current port
|
|
|
|
*/
|
|
|
|
void port_setbaud(uint32_t baudrate)
|
|
|
|
{
|
2018-07-08 18:39:55 -03:00
|
|
|
#if HAL_USE_SERIAL_USB == TRUE
|
2018-06-25 00:39:22 -03:00
|
|
|
if (uarts[last_uart] == (BaseChannel *)&SDU1) {
|
|
|
|
// can't set baudrate on USB
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
#endif
|
2018-06-25 03:08:51 -03:00
|
|
|
#if HAL_USE_SERIAL == TRUE
|
2018-06-25 01:10:21 -03:00
|
|
|
memset(&sercfg, 0, sizeof(sercfg));
|
|
|
|
sercfg.speed = baudrate;
|
2018-06-25 00:39:22 -03:00
|
|
|
sdStart((SerialDriver *)uarts[last_uart], &sercfg);
|
2018-06-25 03:08:51 -03:00
|
|
|
#endif
|
2018-06-25 00:39:22 -03:00
|
|
|
}
|
2019-05-26 22:38:46 -03:00
|
|
|
#endif // BOOTLOADER_DEV_LIST
|