AP_Bootloader: use new hal CAN interface for CAN support

Tools/AP_Bootloader/bl_protocol.cpp

@@ -321,62 +321,6 @@ cout_word(uint32_t val)
     cout((uint8_t *)&val, 4);
 }
 
-/*
-  we use a write buffer for flashing, both for efficiency and to
-  ensure that we only ever do 32 byte aligned writes on STM32H7. If
-  you attempt to do writes on a H7 of less than 32 bytes or not
-  aligned then the flash can end up in a CRC error state, which can
-  generate a hardware fault (a double ECC error) on flash read, even
-  after a power cycle
- */
-static struct {
-    uint32_t buffer[8];
-    uint32_t address;
-    uint8_t n;
-} fbuf;
-
-/*
-  flush the write buffer
- */
-static bool flash_write_flush(void)
-{
-    if (fbuf.n == 0) {
-        return true;
-    }
-    fbuf.n = 0;
-    return flash_func_write_words(fbuf.address, fbuf.buffer, ARRAY_SIZE(fbuf.buffer));
-}
-
-/*
-  write to flash with buffering to 32 bytes alignment
- */
-static bool flash_write_buffer(uint32_t address, const uint32_t *v, uint8_t nwords)
-{
-    if (fbuf.n > 0 && address != fbuf.address + fbuf.n*4) {
-        if (!flash_write_flush()) {
-            return false;
-        }
-    }
-    while (nwords > 0) {
-        if (fbuf.n == 0) {
-            fbuf.address = address;
-            memset(fbuf.buffer, 0xff, sizeof(fbuf.buffer));
-        }
-        uint8_t n = MIN(ARRAY_SIZE(fbuf.buffer)-fbuf.n, nwords);
-        memcpy(&fbuf.buffer[fbuf.n], v, n*4);
-        address += n*4;
-        v += n;
-        nwords -= n;
-        fbuf.n += n;
-        if (fbuf.n == ARRAY_SIZE(fbuf.buffer)) {
-            if (!flash_write_flush()) {
-                return false;
-            }
-        }
-    }
-    return true;
-}
-
 #define TEST_FLASH 0
 
 #if TEST_FLASH

Tools/AP_Bootloader/can.cpp

@@ -71,7 +71,7 @@ static uint8_t node_id_allocation_transfer_id;
 static uavcan_protocol_NodeStatus node_status;
 static uint32_t send_next_node_id_allocation_request_at_ms;
 static uint8_t node_id_allocation_unique_id_offset;
-static uint32_t app_first_word = 0xFFFFFFFF;
+static uint32_t app_first_words[8];
 
 static struct {
     uint64_t ofs;
@@ -225,11 +225,11 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
         flash_func_erase_sector(fw_update.sector+1);
     }
     for (uint16_t i=0; i<len/4; i++) {
-        if (i == 0 && fw_update.sector == 0 && fw_update.ofs == 0) {
+        if (fw_update.sector == 0 && (fw_update.ofs+i*4) < sizeof(app_first_words)) {
             // keep first word aside, to be flashed last
-            app_first_word = buf32[0];
+            app_first_words[i] = buf32[i];
         } else {
-            flash_func_write_word(fw_update.ofs+i*4, buf32[i]);
+            flash_write_buffer(fw_update.ofs+i*4, &buf32[i], 1);
         }
     }
     fw_update.ofs += len;
@@ -241,7 +241,8 @@ static void handle_file_read_response(CanardInstance* ins, CanardRxTransfer* tra
     if (len < UAVCAN_PROTOCOL_FILE_READ_RESPONSE_DATA_MAX_LENGTH) {
         fw_update.node_id = 0;
         // now flash the first word
-        flash_func_write_word(0, app_first_word);
+        flash_write_buffer(0, app_first_words, ARRAY_SIZE(app_first_words));
+        flash_write_flush();
         if (can_check_firmware()) {
             jump_to_app();
         }
@@ -262,6 +263,9 @@ static void handle_begin_firmware_update(CanardInstance* ins, CanardRxTransfer*
     if (transfer->payload_len < 1 || transfer->payload_len > sizeof(fw_update.path)+1) {
         return;
     }
+
+    memset(app_first_words, 0xff, sizeof(app_first_words));
+
     if (fw_update.node_id == 0) {
         uint32_t offset = 0;
         canardDecodeScalar(transfer, 0, 8, false, (void*)&fw_update.node_id);

Tools/AP_Bootloader/support.cpp

@@ -9,6 +9,7 @@
 #include <AP_HAL_ChibiOS/hwdef/common/usbcfg.h>
 #include <AP_HAL_ChibiOS/hwdef/common/flash.h>
 #include <AP_HAL_ChibiOS/hwdef/common/stm32_util.h>
+#include <AP_Math/AP_Math.h>
 #include "support.h"
 #include "mcu_f1.h"
 #include "mcu_f3.h"
@@ -161,6 +162,62 @@ uint32_t flash_func_read_sn(uint32_t idx)
     return *(uint32_t *)(UDID_START + idx);
 }
 
+/*
+  we use a write buffer for flashing, both for efficiency and to
+  ensure that we only ever do 32 byte aligned writes on STM32H7. If
+  you attempt to do writes on a H7 of less than 32 bytes or not
+  aligned then the flash can end up in a CRC error state, which can
+  generate a hardware fault (a double ECC error) on flash read, even
+  after a power cycle
+ */
+static struct {
+    uint32_t buffer[8];
+    uint32_t address;
+    uint8_t n;
+} fbuf;
+
+/*
+  flush the write buffer
+ */
+bool flash_write_flush(void)
+{
+    if (fbuf.n == 0) {
+        return true;
+    }
+    fbuf.n = 0;
+    return flash_func_write_words(fbuf.address, fbuf.buffer, ARRAY_SIZE(fbuf.buffer));
+}
+
+/*
+  write to flash with buffering to 32 bytes alignment
+ */
+bool flash_write_buffer(uint32_t address, const uint32_t *v, uint8_t nwords)
+{
+    if (fbuf.n > 0 && address != fbuf.address + fbuf.n*4) {
+        if (!flash_write_flush()) {
+            return false;
+        }
+    }
+    while (nwords > 0) {
+        if (fbuf.n == 0) {
+            fbuf.address = address;
+            memset(fbuf.buffer, 0xff, sizeof(fbuf.buffer));
+        }
+        uint8_t n = MIN(ARRAY_SIZE(fbuf.buffer)-fbuf.n, nwords);
+        memcpy(&fbuf.buffer[fbuf.n], v, n*4);
+        address += n*4;
+        v += n;
+        nwords -= n;
+        fbuf.n += n;
+        if (fbuf.n == ARRAY_SIZE(fbuf.buffer)) {
+            if (!flash_write_flush()) {
+                return false;
+            }
+        }
+    }
+    return true;
+}
+
 uint32_t get_mcu_id(void)
 {
     return *(uint32_t *)DBGMCU_BASE;

Tools/AP_Bootloader/support.h

@@ -30,6 +30,9 @@ uint32_t flash_func_read_sn(uint32_t idx);
 void flash_set_keep_unlocked(bool);
 void lock_bl_port(void);
 
+bool flash_write_flush(void);
+bool flash_write_buffer(uint32_t address, const uint32_t *v, uint8_t nwords);
+
 uint32_t get_mcu_id(void);
 uint32_t get_mcu_desc(uint32_t len, uint8_t *buf);
 bool check_limit_flash_1M(void);

libraries/AP_HAL_ChibiOS/hwdef/CubeOrange-periph/hwdef.dat

@@ -7,6 +7,8 @@ undef ROMFS
 undef HAL_HAVE_SAFETY_SWITCH
 undef IMU
 undef HAL_CHIBIOS_ARCH_FMUV3
+undef BOOTLOADER_DEV_LIST
+
 # board ID for firmware load
 APJ_BOARD_ID 1400