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luftboot.c
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luftboot.c
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/*
* This file is part of the Paparazzi UAV project.
*
* Copyright (C) 2010 Gareth McMullin <gareth@blacksphere.co.nz>
* Copyright (C) 2011-2012 Piotr Esden-Tempski <piotr@esden.net>
*
* 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, either version 3 of the License, or
* (at your option) any later version.
*
* 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/>.
*/
#include <stdint.h>
#include <string.h>
#include <libopencm3/cm3/systick.h>
#include <libopencm3/stm32/f1/rcc.h>
#include <libopencm3/stm32/f1/gpio.h>
#include <libopencm3/stm32/f1/flash.h>
#include <libopencm3/cm3/scb.h>
#include <libopencm3/usb/usbd.h>
#include <libopencm3/usb/dfu.h>
#ifndef VERSION
#define VERSION ""
#endif
#ifndef DEV_SERIAL
#define DEV_SERIAL "NSERIAL"
#endif
#define APP_ADDRESS 0x08002000
#define SECTOR_SIZE 2048
/* Commands sent with wBlockNum == 0 as per ST implementation. */
#define CMD_SETADDR 0x21
#define CMD_ERASE 0x41
#define FLASH_OBP_RDP 0x1FFFF800
#define FLASH_OBP_WRP10 0x1FFFF808
/* Defines user option register as per Table 5 on Page 55 of RM0008 (STM32
* Reference Manual)
*/
#define FLASH_OBP_DATA0 0x1FFFF804
#define FLASH_OBP_RDP_KEY 0x5aa5
static const char
dev_serial[] __attribute__((section (".devserial"))) = DEV_SERIAL;
/* We need a special large control buffer for this device: */
uint8_t usbd_control_buffer[SECTOR_SIZE];
static enum dfu_state usbdfu_state = STATE_DFU_IDLE;
inline char *get_dev_unique_id(char *serial_no);
static struct {
uint8_t buf[sizeof(usbd_control_buffer)];
uint16_t len;
uint32_t addr;
uint16_t blocknum;
} prog;
const struct usb_device_descriptor dev = {
.bLength = USB_DT_DEVICE_SIZE,
.bDescriptorType = USB_DT_DEVICE,
.bcdUSB = 0x0200,
.bDeviceClass = 0,
.bDeviceSubClass = 0,
.bDeviceProtocol = 0,
.bMaxPacketSize0 = 64,
.idVendor = 0x1D50,
.idProduct = 0x600F,
.bcdDevice = 0x0100,
.iManufacturer = 1,
.iProduct = 2,
.iSerialNumber = 3,
.bNumConfigurations = 1,
};
const struct usb_dfu_descriptor dfu_function = {
.bLength = sizeof(struct usb_dfu_descriptor),
.bDescriptorType = DFU_FUNCTIONAL,
.bmAttributes = USB_DFU_CAN_DOWNLOAD | USB_DFU_WILL_DETACH,
.wDetachTimeout = 255,
.wTransferSize = SECTOR_SIZE,
.bcdDFUVersion = 0x011A,
};
const struct usb_interface_descriptor iface = {
.bLength = USB_DT_INTERFACE_SIZE,
.bDescriptorType = USB_DT_INTERFACE,
.bInterfaceNumber = 0,
.bAlternateSetting = 0,
.bNumEndpoints = 0,
.bInterfaceClass = 0xFE, /* Device Firmware Upgrade */
.bInterfaceSubClass = 1,
.bInterfaceProtocol = 2,
/* The ST Microelectronics DfuSe application needs this string.
* The format isn't documented... */
.iInterface = 4,
.extra = &dfu_function,
.extralen = sizeof(dfu_function),
};
const struct usb_interface ifaces[] = {{
.num_altsetting = 1,
.altsetting = &iface,
}};
const struct usb_config_descriptor config = {
.bLength = USB_DT_CONFIGURATION_SIZE,
.bDescriptorType = USB_DT_CONFIGURATION,
.wTotalLength = 0,
.bNumInterfaces = 1,
.bConfigurationValue = 1,
.iConfiguration = 0,
.bmAttributes = 0xC0,
.bMaxPower = 0x32,
.interface = ifaces,
};
static char serial_no[24+8];
static const char *usb_strings[] = {
"Transition Robotics Inc.",
"Lisa/M (Upgrade) " VERSION,
serial_no,
/* This string is used by ST Microelectronics' DfuSe utility */
"@Internal Flash /0x08000000/4*002Ka,124*002Kg"
};
static uint8_t usbdfu_getstatus(uint32_t *bwPollTimeout)
{
switch(usbdfu_state) {
case STATE_DFU_DNLOAD_SYNC:
usbdfu_state = STATE_DFU_DNBUSY;
*bwPollTimeout = 100;
return DFU_STATUS_OK;
case STATE_DFU_MANIFEST_SYNC:
/* Device will reset when read is complete */
usbdfu_state = STATE_DFU_MANIFEST;
return DFU_STATUS_OK;
default:
return DFU_STATUS_OK;
}
}
static void usbdfu_getstatus_complete(usbd_device *device,
struct usb_setup_data *req)
{
int i;
(void)req;
switch(usbdfu_state) {
case STATE_DFU_DNBUSY:
flash_unlock();
if(prog.blocknum == 0) {
if ((*(uint32_t*)(prog.buf+1) < 0x8002000) ||
(*(uint32_t*)(prog.buf+1) >= 0x8040000)) {
usbd_ep_stall_set(device, 0, 1);
return;
}
switch(prog.buf[0]) {
case CMD_ERASE:
flash_erase_page(*(uint32_t*)(prog.buf+1));
case CMD_SETADDR:
prog.addr = *(uint32_t*)(prog.buf+1);
}
} else {
uint32_t baseaddr = prog.addr +
((prog.blocknum - 2) *
dfu_function.wTransferSize);
for(i = 0; i < prog.len; i += 2)
flash_program_half_word(baseaddr + i,
*(uint16_t*)(prog.buf+i));
}
flash_lock();
/* We jump straight to dfuDNLOAD-IDLE,
* skipping dfuDNLOAD-SYNC
*/
usbdfu_state = STATE_DFU_DNLOAD_IDLE;
return;
case STATE_DFU_MANIFEST:
/* Mark DATA0 register that we have just downloaded the code */
if((FLASH_OBR & 0x3FC00) != 0x00) {
flash_unlock();
FLASH_CR = 0;
flash_erase_option_bytes();
flash_program_option_bytes(FLASH_OBP_RDP, 0x5AA5);
flash_program_option_bytes(FLASH_OBP_WRP10, 0x03FC);
flash_program_option_bytes(FLASH_OBP_DATA0, 0xFF00);
flash_lock();
}
/* USB device must detach, we just reset... */
scb_reset_system();
return; /* Will never return */
default:
return;
}
}
static int usbdfu_control_request(usbd_device *device,
struct usb_setup_data *req, uint8_t **buf,
uint16_t *len,
void (**complete)(usbd_device *device,
struct usb_setup_data *req))
{
if((req->bmRequestType & 0x7F) != 0x21)
return 0; /* Only accept class request */
switch(req->bRequest) {
case DFU_DNLOAD:
if((len == NULL) || (*len == 0)) {
usbdfu_state = STATE_DFU_MANIFEST_SYNC;
return 1;
} else {
/* Copy download data for use on GET_STATUS */
prog.blocknum = req->wValue;
prog.len = *len;
memcpy(prog.buf, *buf, *len);
usbdfu_state = STATE_DFU_DNLOAD_SYNC;
return 1;
}
case DFU_CLRSTATUS:
/* Clear error and return to dfuIDLE */
if(usbdfu_state == STATE_DFU_ERROR)
usbdfu_state = STATE_DFU_IDLE;
return 1;
case DFU_ABORT:
/* Abort returns to dfuIDLE state */
usbdfu_state = STATE_DFU_IDLE;
return 1;
case DFU_UPLOAD:
/* Upload not supported for now */
return 0;
case DFU_GETSTATUS: {
uint32_t bwPollTimeout = 0; /* 24-bit integer in DFU class spec
*/
(*buf)[0] = usbdfu_getstatus(&bwPollTimeout);
(*buf)[1] = bwPollTimeout & 0xFF;
(*buf)[2] = (bwPollTimeout >> 8) & 0xFF;
(*buf)[3] = (bwPollTimeout >> 16) & 0xFF;
(*buf)[4] = usbdfu_state;
(*buf)[5] = 0; /* iString not used here */
*len = 6;
*complete = usbdfu_getstatus_complete;
return 1;
}
case DFU_GETSTATE:
/* Return state with no state transision */
*buf[0] = usbdfu_state;
*len = 1;
return 1;
}
return 0;
}
static inline void gpio_init(void)
{
/* Enable GPIOA, GPIOB, GPIOC, and AFIO clocks. */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN |
RCC_APB2ENR_IOPBEN |
RCC_APB2ENR_IOPCEN |
RCC_APB2ENR_AFIOEN);
/* LED1 */
/* Set GPIO8 (in GPIO port A) to 'output push-pull'. */
gpio_set_mode(GPIOA, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO8);
/* JTAG_TRST */
/* Set GPIO4 (in GPIO port B) to 'output push-pull'. */
gpio_set_mode(GPIOB, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO4);
AFIO_MAPR |= AFIO_MAPR_SWJ_CFG_FULL_SWJ_NO_JNTRST;
/* LED2, ADC4, ADC6 */
/* Set GPIO15, GPIO5, GPIO2 (in GPIO port C) to 'output push-pull'. */
gpio_set_mode(GPIOC, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_PUSHPULL, GPIO15 | GPIO5 | GPIO2);
/* Preconfigure the LEDs. */
gpio_set(GPIOA, GPIO8);
gpio_set(GPIOB, GPIO4);
gpio_set(GPIOC, GPIO15 | GPIO5 | GPIO2);
}
void led_set(int id, int on)
{
if (on) {
switch (id) {
case 0:
gpio_clear(GPIOA, GPIO8); /* LED1 On */
break;
case 1:
gpio_clear(GPIOB, GPIO4); /* JTAG_TRST On */
break;
case 2:
gpio_clear(GPIOC, GPIO2); /* ADC6 On */
break;
case 3:
gpio_clear(GPIOC, GPIO5); /* ADC4 On */
break;
case 4:
gpio_clear(GPIOC, GPIO15); /* LED2 On */
break;
}
} else {
switch (id) {
case 0:
gpio_set(GPIOA, GPIO8); /* LED1 On */
break;
case 1:
gpio_set(GPIOB, GPIO4); /* JTAG_TRST On */
break;
case 2:
gpio_set(GPIOC, GPIO2); /* ADC6 On */
break;
case 3:
gpio_set(GPIOC, GPIO5); /* ADC4 On */
break;
case 4:
gpio_set(GPIOC, GPIO15); /* LED2 On */
break;
}
}
}
static inline void led_advance(void)
{
static int state = 0;
if (state < 5) {
led_set(state, 1);
} else if (state < 10) {
led_set(state - 5, 0);
} else if (state < 15) {
led_set(14 - state, 1);
} else if (state < 20) {
led_set(19 - state, 0);
}
state++;
if(state == 20) state = 0;
}
bool gpio_force_bootloader()
{
/* Force the bootloader if the GPIO state was changed to indicate this
in the application (state remains after a core-only reset)
Skip bootloader if the "skip bootloader" pin is grounded
Force bootloader if the USB vbus is powered
Skip bootloader otherwise */
/* Check if we are being forced by the payload. */
if (((GPIO_CRL(GPIOC) & 0x3) == 0x0) &&
((GPIO_CRL(GPIOC) & 0xC) == 0x8) &&
((GPIO_IDR(GPIOC) & 0x1) == 0x0)){
return true;
} else {
/* Enable clock for the "skip bootloader" pin bank and check
* for it
*/
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
gpio_set_mode(GPIOC, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, GPIO0);
gpio_set(GPIOC, GPIO0);
if(!gpio_get(GPIOC, GPIO0)) {
/* If pin grounded, disable the pin bank and return */
gpio_set_mode(GPIOC, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO0);
rcc_peripheral_disable_clock(&RCC_APB2ENR,
RCC_APB2ENR_IOPCEN);
return false;
}
/* Disable the pin bank */
gpio_set_mode(GPIOC, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
GPIO0);
rcc_peripheral_disable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPCEN);
/* Enable clock for the "USB vbus" pin bank and check for it */
rcc_peripheral_enable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_PULL_UPDOWN, GPIO9);
gpio_clear(GPIOA, GPIO9);
if(gpio_get(GPIOA, GPIO9)) {
/* If vbus pin high, disable the pin bank and return */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT,
GPIO_CNF_INPUT_FLOAT, GPIO9);
rcc_peripheral_disable_clock(&RCC_APB2ENR,
RCC_APB2ENR_IOPAEN);
return true;
}
/* Disable the pin bank */
gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT,
GPIO9);
rcc_peripheral_disable_clock(&RCC_APB2ENR, RCC_APB2ENR_IOPAEN);
}
return false;
}
int main(void)
{
/* Check if the application is valid. */
if ((*(volatile uint32_t *)APP_ADDRESS & 0x2FFE0000) == 0x20000000) {
/* Check if we have just downloaded the new code by looking at
* the DATA0 option register or that we do NOT want to force
* the bootloader
*/
if (((FLASH_OBR & 0x3FC00) == 0x00) ||
(!gpio_force_bootloader() && 1)) {
/* If we DID just download new code, reset that data
* register
*/
if((FLASH_OBR & 0x3FC00) == 0x00) {
flash_unlock();
FLASH_CR = 0;
flash_erase_option_bytes();
/* Flash read unprotect */
flash_program_option_bytes(FLASH_OBP_RDP, 0x5AA5);
/* Write protect first 4 flash pages */
flash_program_option_bytes(FLASH_OBP_WRP10, 0x03FC);
/* Write data register that we downloaded the code
* and want to jump the app
*/
flash_program_option_bytes(FLASH_OBP_DATA0,
0x00FF);
flash_lock();
}
/* Set vector table base address. */
SCB_VTOR = APP_ADDRESS & 0xFFFF;
/* Initialise master stack pointer. */
asm volatile("msr msp, %0"::"g"
(*(volatile uint32_t *)APP_ADDRESS));
/* Jump to application. */
(*(void (**)())(APP_ADDRESS + 4))();
}
}
if ((FLASH_WRPR & 0x03) != 0x00) {
flash_unlock();
FLASH_CR = 0;
flash_erase_option_bytes();
flash_program_option_bytes(FLASH_OBP_RDP, FLASH_OBP_RDP_KEY);
flash_program_option_bytes(FLASH_OBP_WRP10, 0x03FC);
}
#if LUFTBOOT_USE_48MHZ_INTERNAL_OSC
#pragma message "Luftboot using 8MHz internal RC oscillator to PLL it to 48MHz."
rcc_clock_setup_in_hsi_out_48mhz();
#else
#pragma message "Luftboot using 12MHz external clock to PLL it to 72MHz."
rcc_clock_setup_in_hse_12mhz_out_72mhz();
#endif
rcc_peripheral_enable_clock(&RCC_AHBENR, RCC_AHBENR_OTGFSEN);
gpio_init();
systick_set_clocksource(STK_CSR_CLKSOURCE_AHB_DIV8);
systick_set_reload(900000);
systick_interrupt_enable();
systick_counter_enable();
get_dev_unique_id(serial_no);
usbd_device *device = usbd_init(&stm32f107_usb_driver, &dev, &config,
usb_strings, 4, usbd_control_buffer,
sizeof(usbd_control_buffer));
usbd_register_control_callback( device,
USB_REQ_TYPE_CLASS | USB_REQ_TYPE_INTERFACE,
USB_REQ_TYPE_TYPE | USB_REQ_TYPE_RECIPIENT,
usbdfu_control_request);
while (1)
usbd_poll(device);
}
inline char *get_dev_unique_id(char *s)
{
volatile uint8_t *unique_id = (volatile uint8_t *)0x1FFFF7E8;
int i;
for(i = 0; i < 7; i++) {
s[i] = dev_serial[i];
}
s[i] = ' ';
/* Fetch serial number from chip's unique ID */
for(i = 0; i < 24; i+=2) {
s[i+8] = ((*unique_id >> 4) & 0xF) + '0';
s[i+8+1] = (*unique_id++ & 0xF) + '0';
}
for(i = 0; i < 24; i++)
if(s[i+8] > '9')
s[i+8] += 'A' - '9' - 1;
return s;
}
void sys_tick_handler()
{
led_advance();
}