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HAL_ChibiOS: support a app->bootloader comms region in SRAM 

this allows for UAVCAN update without a 2nd BeginFirmwareUpdate call
This commit is contained in:
Andrew Tridgell 2019-10-21 14:48:39 +11:00
parent 1c61ab165c
commit 0a4576728e
7 changed files with 33 additions and 2 deletions
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3
libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef-bl.dat
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@ -106,3 +106,6 @@ define BOOTLOADER_BAUDRATE 57600
# use a small bootloader timeout
define HAL_BOOTLOADER_TIMEOUT 1000
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

3
libraries/AP_HAL_ChibiOS/hwdef/CUAV_GPS/hwdef.dat
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@ -168,3 +168,6 @@ define AP_PERIPH_LED_BRIGHT_DEFAULT 50
# use the app descriptor needed by MissionPlanner for CAN upload
env APP_DESCRIPTOR MissionPlanner
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

3
libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef-bl.dat
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@ -29,6 +29,9 @@ FLASH_SIZE_KB 256
# reserve space for params
FLASH_RESERVE_END_KB 2
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256
# USART3 for debug
#STDOUT_SERIAL SD3
#STDOUT_BAUDRATE 115200

3
libraries/AP_HAL_ChibiOS/hwdef/ZubaxGNSS/hwdef.dat
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@ -12,6 +12,9 @@ define CAN_APP_NODE_NAME "org.ardupilot.ap_periph_ZubaxGNSS"
# bootloader starts firmware at 34k
FLASH_RESERVE_START_KB 34
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256
# store parameters in last 2 pages
define STORAGE_FLASH_PAGE 126
define HAL_STORAGE_SIZE 800

3
libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef-bl.dat
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@ -95,3 +95,6 @@ define HAL_BOOTLOADER_TIMEOUT 1000
# and look for it low then we know user has pulled it down and
# want to stay in the bootloader
PB6 STAY_IN_BOOTLOADER INPUT FLOATING
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

3
libraries/AP_HAL_ChibiOS/hwdef/f103-periph/hwdef.dat
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@ -142,3 +142,6 @@ define HAL_COMPASS_MAX_SENSORS 1
# use the app descriptor needed by MissionPlanner for CAN upload
env APP_DESCRIPTOR MissionPlanner
# reserve 256 bytes for comms between app and bootloader
RAM_RESERVE_START 256

17
libraries/AP_HAL_ChibiOS/hwdef/scripts/chibios_hwdef.py
View File

@ -613,6 +613,11 @@ def write_mcu_config(f):
f.write('#define HAL_MEMORY_REGIONS %s\n' % ', '.join(regions))
f.write('#define HAL_MEMORY_TOTAL_KB %u\n' % total_memory)
f.write('#define HAL_RAM0_START 0x%08x\n' % ram_map[0][0])
ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int)
if ram_reserve_start > 0:
f.write('#define HAL_RAM_RESERVE_START 0x%08x\n' % ram_reserve_start)
f.write('\n// CPU serial number (12 bytes)\n')
f.write('#define UDID_START 0x%08x\n\n' % get_mcu_config('UDID_START', True))
@ -696,15 +701,23 @@ def write_ldscript(fname):
print("Generating ldscript.ld")
f = open(fname, 'w')
ram0_start = ram_map[0][0]
ram0_len = ram_map[0][1] * 1024
# possibly reserve some memory for app/bootloader comms
ram_reserve_start = get_config('RAM_RESERVE_START', default=0, type=int)
ram0_start += ram_reserve_start
ram0_len -= ram_reserve_start
f.write('''/* generated ldscript.ld */
MEMORY
{
flash : org = 0x%08x, len = %uK
ram0 : org = 0x%08x, len = %uk
ram0 : org = 0x%08x, len = %u
}
INCLUDE common.ld
''' % (flash_base, flash_length, ram_map[0][0], ram_map[0][1]))
''' % (flash_base, flash_length, ram0_start, ram0_len))
def copy_common_linkerscript(outdir, hwdef):
dirpath = os.path.dirname(hwdef)