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AP_Bootloader: add support for flashing erasing and verifying ext flash

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This commit is contained in:
Siddharth Purohit 2021-06-13 17:22:57 +05:30 committed by Andrew Tridgell
parent faedb12493
commit 75bcc76189
3 changed files with 144 additions and 1 deletions
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3
Tools/AP_Bootloader/AP_Bootloader.cpp
View File

@ -43,7 +43,8 @@ extern "C" {
struct boardinfo board_info = {
.board_type = APJ_BOARD_ID,
.board_rev = 0,
.fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024
.fw_size = (BOARD_FLASH_SIZE - (FLASH_BOOTLOADER_LOAD_KB + FLASH_RESERVE_END_KB + APP_START_OFFSET_KB))*1024,
.extf_size = (EXTERNAL_PROG_FLASH_MB * 1024 * 1024)
};
#ifndef HAL_BOOTLOADER_TIMEOUT

141
Tools/AP_Bootloader/bl_protocol.cpp
View File

@ -125,6 +125,7 @@
#define PROTO_DEVICE_BOARD_REV 3 // board revision
#define PROTO_DEVICE_FW_SIZE 4 // size of flashable area
#define PROTO_DEVICE_VEC_AREA 5 // contents of reserved vectors 7-10
#define PROTO_DEVICE_EXTF_SIZE 6 // size of available external flash
// all except PROTO_DEVICE_VEC_AREA and PROTO_DEVICE_BOARD_REV should be done
#define CHECK_GET_DEVICE_FINISHED(x) ((x & (0xB)) == 0xB)
@ -153,6 +154,10 @@ volatile unsigned timer[NTIMERS];
extern AP_FlashIface_JEDEC ext_flash;
#endif
#ifndef BOOT_FROM_EXT_FLASH
#define BOOT_FROM_EXT_FLASH 0
#endif
/*
1ms timer tick callback
*/
@ -404,6 +409,7 @@ bootloader(unsigned timeout)
#endif
uint32_t address = board_info.fw_size; /* force erase before upload will work */
uint32_t extf_address = board_info.extf_size; /* force erase before upload will work */
uint32_t read_address = 0;
uint32_t first_words[RESERVE_LEAD_WORDS];
bool done_sync = false;
@ -526,6 +532,10 @@ bootloader(unsigned timeout)
break;
case PROTO_DEVICE_EXTF_SIZE:
cout((uint8_t *)&board_info.extf_size, sizeof(board_info.extf_size));
break;
default:
goto cmd_bad;
}
@ -643,11 +653,101 @@ bootloader(unsigned timeout)
erased_bytes += ext_flash.get_sector_size();
sector_number++;
}
pct_done = 100;
extf_address = 0;
cout(&pct_done, sizeof(pct_done));
}
#else
goto cmd_bad;
#endif // EXTERNAL_PROG_FLASH_MB
break;
// program bytes at current external flash address
//
// command: PROG_MULTI/<len:1>/<data:len>/EOC
// success reply: INSYNC/OK
// invalid reply: INSYNC/INVALID
// readback failure: INSYNC/FAILURE
//
case PROTO_EXTF_PROG_MULTI:
{
if (!done_sync || !CHECK_GET_DEVICE_FINISHED(done_get_device_flags)) {
// lower chance of random data on a uart triggering erase
goto cmd_bad;
}
// expect count
led_set(LED_OFF);
arg = cin(50);
if (arg < 0) {
goto cmd_bad;
}
if ((extf_address + arg) > board_info.extf_size) {
goto cmd_bad;
}
if (arg > sizeof(flash_buffer.c)) {
goto cmd_bad;
}
for (int i = 0; i < arg; i++) {
c = cin(1000);
if (c < 0) {
goto cmd_bad;
}
flash_buffer.c[i] = c;
}
if (!wait_for_eoc(200)) {
goto cmd_bad;
}
#if BOOT_FROM_EXT_FLASH
// save the first words and don't program it until everything else is done
if (extf_address < sizeof(first_words)) {
uint8_t n = MIN(sizeof(first_words)-extf_address, arg);
memcpy(&first_words[extf_address/4], &flash_buffer.w[0], n);
// replace first words with 1 bits we can overwrite later
memset(&flash_buffer.w[0], 0xFF, n);
}
#endif
uint32_t size = arg;
uint32_t programming;
uint32_t offset = 0;
uint32_t delay_us = 0, timeout_us = 0;
uint64_t start_time_us;
while (true) {
if (size == 0) {
extf_address += arg;
break;
}
if (!ext_flash.start_program_offset(extf_address+offset, &flash_buffer.c[offset], size, programming, delay_us, timeout_us)) {
// uprintf("ext flash write command failed\n");
goto cmd_fail;
}
start_time_us = AP_HAL::micros64();
// prepare for next run
offset += programming;
size -= programming;
while (true) {
if (AP_HAL::micros64() > (start_time_us+delay_us)) {
if (!ext_flash.is_device_busy()) {
// uprintf("flash program Successful, elapsed %ld us\n", uint32_t(AP_HAL::micros64() - start_time_us));
break;
} else {
// uprintf("Typical flash program time reached, Still Busy?!\n");
}
}
}
}
break;
}
// program bytes at current address
//
// command: PROG_MULTI/<len:1>/<data:len>/EOC
@ -746,6 +846,47 @@ bootloader(unsigned timeout)
break;
}
// fetch CRC of the external flash area
//
// command: EXTF_GET_CRC/<len:4>/EOC
// reply: <crc:4>/INSYNC/OK
//
case PROTO_EXTF_GET_CRC: {
// expect EOC
uint32_t cmd_verify_bytes;
if (cin_word(&cmd_verify_bytes, 100)) {
goto cmd_bad;
}
if (!wait_for_eoc(2)) {
goto cmd_bad;
}
// compute CRC of the programmed area
uint32_t sum = 0;
uint8_t rembytes = cmd_verify_bytes % 4;
for (unsigned p = 0; p < (cmd_verify_bytes-rembytes); p+=4) {
uint32_t bytes;
#if BOOT_FROM_EXT_FLASH
if (p < sizeof(first_words) && first_words[0] != 0xFFFFFFFF) {
bytes = first_words[p/4];
} else
#endif
{
ext_flash.read(p, (uint8_t *)&bytes, sizeof(bytes));
}
sum = crc32_small(sum, (uint8_t *)&bytes, sizeof(bytes));
}
if (rembytes) {
uint8_t bytes[3];
ext_flash.read(cmd_verify_bytes-rembytes, bytes, rembytes);
sum = crc32_small(sum, bytes, rembytes);
}
cout_word(sum);
break;
}
// read a word from the OTP
//
// command: GET_OTP/<addr:4>/EOC

1
Tools/AP_Bootloader/support.h
View File

@ -8,6 +8,7 @@ struct boardinfo {
uint32_t board_type;
uint32_t board_rev;
uint32_t fw_size;
uint32_t extf_size;
} __attribute__((packed));
extern struct boardinfo board_info;