476 lines
13 KiB
C
476 lines
13 KiB
C
// flasher state variables
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uint32_t *prog_ptr = NULL;
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int unlocked = 0;
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#ifdef uart_ring
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void debug_ring_callback(uart_ring *ring) {}
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#endif
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int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired) {
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int resp_len = 0;
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// flasher machine
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memset(resp, 0, 4);
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memcpy(resp+4, "\xde\xad\xd0\x0d", 4);
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resp[0] = 0xff;
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resp[2] = setup->b.bRequest;
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resp[3] = ~setup->b.bRequest;
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*((uint32_t **)&resp[8]) = prog_ptr;
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resp_len = 0xc;
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int sec;
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switch (setup->b.bRequest) {
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// **** 0xb0: flasher echo
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case 0xb0:
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resp[1] = 0xff;
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break;
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// **** 0xb1: unlock flash
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case 0xb1:
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if (FLASH->CR & FLASH_CR_LOCK) {
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FLASH->KEYR = 0x45670123;
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FLASH->KEYR = 0xCDEF89AB;
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resp[1] = 0xff;
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}
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current_board->set_led(LED_GREEN, 1);
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unlocked = 1;
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prog_ptr = (uint32_t *)0x8004000;
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break;
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// **** 0xb2: erase sector
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case 0xb2:
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sec = setup->b.wValue.w;
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// don't erase the bootloader
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if (sec != 0 && sec < 12 && unlocked) {
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FLASH->CR = (sec << 3) | FLASH_CR_SER;
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FLASH->CR |= FLASH_CR_STRT;
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while (FLASH->SR & FLASH_SR_BSY);
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resp[1] = 0xff;
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}
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break;
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// **** 0xd0: fetch serial number
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case 0xd0:
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#ifdef STM32F4
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// addresses are OTP
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if (setup->b.wValue.w == 1) {
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memcpy(resp, (void *)0x1fff79c0, 0x10);
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resp_len = 0x10;
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} else {
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get_provision_chunk(resp);
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resp_len = PROVISION_CHUNK_LEN;
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}
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#endif
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break;
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// **** 0xd1: enter bootloader mode
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case 0xd1:
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// this allows reflashing of the bootstub
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// so it's blocked over wifi
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switch (setup->b.wValue.w) {
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case 0:
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// TODO: put this back when it's no longer a "devkit"
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//#ifdef ALLOW_DEBUG
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#if 1
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if (hardwired) {
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#else
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// no more bootstub on UNO once OTP block is flashed
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if (hardwired && ((hw_type != HW_TYPE_UNO) || (!is_provisioned()))) {
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#endif
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puts("-> entering bootloader\n");
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enter_bootloader_mode = ENTER_BOOTLOADER_MAGIC;
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NVIC_SystemReset();
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}
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break;
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case 1:
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puts("-> entering softloader\n");
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enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
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NVIC_SystemReset();
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break;
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}
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break;
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// **** 0xd6: get version
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case 0xd6:
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COMPILE_TIME_ASSERT(sizeof(gitversion) <= MAX_RESP_LEN);
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memcpy(resp, gitversion, sizeof(gitversion));
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resp_len = sizeof(gitversion);
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break;
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// **** 0xd8: reset ST
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case 0xd8:
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NVIC_SystemReset();
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break;
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}
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return resp_len;
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}
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int usb_cb_ep1_in(void *usbdata, int len, bool hardwired) {
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UNUSED(usbdata);
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UNUSED(len);
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UNUSED(hardwired);
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return 0;
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}
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void usb_cb_ep3_out(void *usbdata, int len, bool hardwired) {
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UNUSED(usbdata);
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UNUSED(len);
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UNUSED(hardwired);
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}
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void usb_cb_ep3_out_complete(void) {}
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int is_enumerated = 0;
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void usb_cb_enumeration_complete(void) {
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puts("USB enumeration complete\n");
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is_enumerated = 1;
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}
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void usb_cb_ep2_out(void *usbdata, int len, bool hardwired) {
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UNUSED(hardwired);
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current_board->set_led(LED_RED, 0);
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for (int i = 0; i < len/4; i++) {
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// program byte 1
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FLASH->CR = FLASH_CR_PSIZE_1 | FLASH_CR_PG;
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*prog_ptr = *(uint32_t*)(usbdata+(i*4));
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while (FLASH->SR & FLASH_SR_BSY);
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//*(uint64_t*)(&spi_tx_buf[0x30+(i*4)]) = *prog_ptr;
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prog_ptr++;
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}
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current_board->set_led(LED_RED, 1);
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}
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int spi_cb_rx(uint8_t *data, int len, uint8_t *data_out) {
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UNUSED(len);
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int resp_len = 0;
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switch (data[0]) {
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case 0:
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// control transfer
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resp_len = usb_cb_control_msg((USB_Setup_TypeDef *)(data+4), data_out, 0);
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break;
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case 2:
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// ep 2, flash!
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usb_cb_ep2_out(data+4, data[2], 0);
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break;
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}
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return resp_len;
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}
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#ifdef PEDAL
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#include "drivers/llcan.h"
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#define CAN CAN1
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#define CAN_BL_INPUT 0x1
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#define CAN_BL_OUTPUT 0x2
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void CAN1_TX_IRQ_Handler(void) {
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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#define ISOTP_BUF_SIZE 0x110
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uint8_t isotp_buf[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_ptr = NULL;
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int isotp_buf_remain = 0;
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uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_out_ptr = NULL;
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int isotp_buf_out_remain = 0;
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int isotp_buf_out_idx = 0;
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void bl_can_send(uint8_t *odat) {
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// wait for send
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while (!(CAN->TSR & CAN_TSR_TME0));
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// send continue
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CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
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CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
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CAN->sTxMailBox[0].TDTR = 8;
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CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
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}
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void CAN1_RX0_IRQ_Handler(void) {
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while (CAN->RF0R & CAN_RF0R_FMP0) {
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if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
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uint8_t dat[8];
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for (int i = 0; i < 8; i++) {
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dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
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}
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uint8_t odat[8];
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uint8_t type = dat[0] & 0xF0;
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if (type == 0x30) {
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// continue
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while (isotp_buf_out_remain > 0) {
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// wait for send
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while (!(CAN->TSR & CAN_TSR_TME0));
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odat[0] = 0x20 | isotp_buf_out_idx;
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memcpy(odat+1, isotp_buf_out_ptr, 7);
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isotp_buf_out_remain -= 7;
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isotp_buf_out_ptr += 7;
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isotp_buf_out_idx++;
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bl_can_send(odat);
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}
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} else if (type == 0x20) {
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if (isotp_buf_remain > 0) {
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memcpy(isotp_buf_ptr, dat+1, 7);
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isotp_buf_ptr += 7;
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isotp_buf_remain -= 7;
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}
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if (isotp_buf_remain <= 0) {
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int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
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// call the function
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memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
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isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
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isotp_buf_out_ptr = isotp_buf_out;
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isotp_buf_out_idx = 0;
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// send initial
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if (isotp_buf_out_remain <= 7) {
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odat[0] = isotp_buf_out_remain;
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memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
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} else {
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odat[0] = 0x10 | (isotp_buf_out_remain>>8);
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odat[1] = isotp_buf_out_remain & 0xFF;
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memcpy(odat+2, isotp_buf_out_ptr, 6);
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isotp_buf_out_remain -= 6;
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isotp_buf_out_ptr += 6;
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isotp_buf_out_idx++;
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}
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bl_can_send(odat);
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}
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} else if (type == 0x10) {
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int len = ((dat[0]&0xF)<<8) | dat[1];
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// setup buffer
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isotp_buf_ptr = isotp_buf;
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memcpy(isotp_buf_ptr, dat+2, 6);
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if (len < (ISOTP_BUF_SIZE-0x10)) {
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isotp_buf_ptr += 6;
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isotp_buf_remain = len-6;
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}
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memset(odat, 0, 8);
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odat[0] = 0x30;
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bl_can_send(odat);
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}
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}
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQ_Handler(void) {
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llcan_clear_send(CAN);
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}
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#endif
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#ifdef GATEWAY
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#include "drivers/llcan.h"
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#define CAN CAN1
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#define CAN_BL_INPUT 0x1
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#define CAN_BL_OUTPUT 0x2
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void CAN1_TX_IRQ_Handler(void) {
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// clear interrupt
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CAN->TSR |= CAN_TSR_RQCP0;
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}
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#define ISOTP_BUF_SIZE 0x110
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uint8_t isotp_buf[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_ptr = NULL;
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int isotp_buf_remain = 0;
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uint8_t isotp_buf_out[ISOTP_BUF_SIZE];
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uint8_t *isotp_buf_out_ptr = NULL;
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int isotp_buf_out_remain = 0;
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int isotp_buf_out_idx = 0;
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void bl_can_send(uint8_t *odat) {
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// wait for send
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while (!(CAN->TSR & CAN_TSR_TME0));
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// send continue
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CAN->sTxMailBox[0].TDLR = ((uint32_t*)odat)[0];
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CAN->sTxMailBox[0].TDHR = ((uint32_t*)odat)[1];
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CAN->sTxMailBox[0].TDTR = 8;
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CAN->sTxMailBox[0].TIR = (CAN_BL_OUTPUT << 21) | 1;
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}
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void CAN1_RX0_IRQ_Handler(void) {
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while (CAN->RF0R & CAN_RF0R_FMP0) {
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if ((CAN->sFIFOMailBox[0].RIR>>21) == CAN_BL_INPUT) {
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uint8_t dat[8];
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for (int i = 0; i < 8; i++) {
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dat[i] = GET_BYTE(&CAN->sFIFOMailBox[0], i);
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}
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uint8_t odat[8];
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uint8_t type = dat[0] & 0xF0;
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if (type == 0x30) {
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// continue
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while (isotp_buf_out_remain > 0) {
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// wait for send
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while (!(CAN->TSR & CAN_TSR_TME0));
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odat[0] = 0x20 | isotp_buf_out_idx;
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memcpy(odat+1, isotp_buf_out_ptr, 7);
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isotp_buf_out_remain -= 7;
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isotp_buf_out_ptr += 7;
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isotp_buf_out_idx++;
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bl_can_send(odat);
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}
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} else if (type == 0x20) {
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if (isotp_buf_remain > 0) {
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memcpy(isotp_buf_ptr, dat+1, 7);
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isotp_buf_ptr += 7;
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isotp_buf_remain -= 7;
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}
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if (isotp_buf_remain <= 0) {
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int len = isotp_buf_ptr - isotp_buf + isotp_buf_remain;
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// call the function
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memset(isotp_buf_out, 0, ISOTP_BUF_SIZE);
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isotp_buf_out_remain = spi_cb_rx(isotp_buf, len, isotp_buf_out);
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isotp_buf_out_ptr = isotp_buf_out;
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isotp_buf_out_idx = 0;
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// send initial
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if (isotp_buf_out_remain <= 7) {
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odat[0] = isotp_buf_out_remain;
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memcpy(odat+1, isotp_buf_out_ptr, isotp_buf_out_remain);
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} else {
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odat[0] = 0x10 | (isotp_buf_out_remain>>8);
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odat[1] = isotp_buf_out_remain & 0xFF;
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memcpy(odat+2, isotp_buf_out_ptr, 6);
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isotp_buf_out_remain -= 6;
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isotp_buf_out_ptr += 6;
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isotp_buf_out_idx++;
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}
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bl_can_send(odat);
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}
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} else if (type == 0x10) {
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int len = ((dat[0]&0xF)<<8) | dat[1];
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// setup buffer
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isotp_buf_ptr = isotp_buf;
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memcpy(isotp_buf_ptr, dat+2, 6);
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if (len < (ISOTP_BUF_SIZE-0x10)) {
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isotp_buf_ptr += 6;
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isotp_buf_remain = len-6;
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}
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memset(odat, 0, 8);
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odat[0] = 0x30;
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bl_can_send(odat);
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}
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}
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// next
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CAN->RF0R |= CAN_RF0R_RFOM0;
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}
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}
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void CAN1_SCE_IRQ_Handler(void) {
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llcan_clear_send(CAN);
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}
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#endif
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void soft_flasher_start(void) {
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#ifdef PEDAL
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REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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#endif
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#ifdef GATEWAY
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REGISTER_INTERRUPT(CAN1_TX_IRQn, CAN1_TX_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_RX0_IRQn, CAN1_RX0_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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REGISTER_INTERRUPT(CAN1_SCE_IRQn, CAN1_SCE_IRQ_Handler, CAN_INTERRUPT_RATE, FAULT_INTERRUPT_RATE_CAN_1)
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#endif
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puts("\n\n\n************************ FLASHER START ************************\n");
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enter_bootloader_mode = 0;
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RCC->AHB1ENR |= RCC_AHB1ENR_DMA2EN;
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RCC->APB2ENR |= RCC_APB2ENR_SPI1EN;
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RCC->AHB2ENR |= RCC_AHB2ENR_OTGFSEN;
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RCC->APB1ENR |= RCC_APB1ENR_USART2EN;
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// pedal has the canloader
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#ifdef PEDAL
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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// B8,B9: CAN 1
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set_gpio_alternate(GPIOB, 8, GPIO_AF9_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF9_CAN1);
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current_board->enable_can_transceiver(1, true);
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// init can
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llcan_set_speed(CAN1, 5000, false, false);
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llcan_init(CAN1);
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#endif
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#ifdef GATEWAY
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//init can for bootloading
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RCC->APB1ENR |= RCC_APB1ENR_CAN1EN;
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set_gpio_alternate(GPIOB, 8, GPIO_AF8_CAN1);
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set_gpio_alternate(GPIOB, 9, GPIO_AF8_CAN1);
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current_board->enable_can_transceiver(1, true);
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// init can
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llcan_set_speed(CAN1, 5000, false, false);
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llcan_init(CAN1);
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#endif
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// A4,A5,A6,A7: setup SPI
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set_gpio_alternate(GPIOA, 4, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 5, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 6, GPIO_AF5_SPI1);
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set_gpio_alternate(GPIOA, 7, GPIO_AF5_SPI1);
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// A2,A3: USART 2 for debugging
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set_gpio_alternate(GPIOA, 2, GPIO_AF7_USART2);
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set_gpio_alternate(GPIOA, 3, GPIO_AF7_USART2);
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// A11,A12: USB
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set_gpio_alternate(GPIOA, 11, GPIO_AF10_OTG_FS);
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set_gpio_alternate(GPIOA, 12, GPIO_AF10_OTG_FS);
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GPIOA->OSPEEDR = GPIO_OSPEEDER_OSPEEDR11 | GPIO_OSPEEDER_OSPEEDR12;
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// flasher
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spi_init();
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// enable USB
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usb_init();
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// green LED on for flashing
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current_board->set_led(LED_GREEN, 1);
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enable_interrupts();
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uint64_t cnt = 0;
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for (cnt=0;;cnt++) {
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if (cnt == 35 && !is_enumerated && usb_power_mode == USB_POWER_CLIENT) {
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// if you are connected through a hub to the phone
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// you need power to be able to see the device
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puts("USBP: didn't enumerate, switching to CDP mode\n");
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current_board->set_usb_power_mode(USB_POWER_CDP);
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current_board->set_led(LED_BLUE, 1);
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}
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// blink the green LED fast
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current_board->set_led(LED_GREEN, 0);
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delay(500000);
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current_board->set_led(LED_GREEN, 1);
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delay(500000);
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}
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}
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