bldc/flash_helper.c

510 lines
14 KiB
C

/*
Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware 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.
The VESC firmware 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 "flash_helper.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "utils_sys.h"
#include "mc_interface.h"
#include "timeout.h"
#include "hw.h"
#include "crc.h"
#include "buffer.h"
#include <string.h>
#ifdef USE_LISPBM
#include "lispif.h"
#endif
/*
* Defines
*/
#define FLASH_SECTORS 12
#define BOOTLOADER_BASE 11
#define APP_BASE 0
#define NEW_APP_BASE 8
#define NEW_APP_SECTORS 3
#define APP_MAX_SIZE (1024 * 128 * 4 - 8) // Note that the bootloader needs 8 extra bytes
#define QMLUI_BASE 9
#define LISP_BASE 10
#define QMLUI_MAX_SIZE (1024 * 128 - 8)
#define LISP_MAX_SIZE (1024 * 128 - 8)
// Base address of the Flash sectors
#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes
#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08004000) // Base @ of Sector 1, 16 Kbytes
#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08008000) // Base @ of Sector 2, 16 Kbytes
#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x0800C000) // Base @ of Sector 3, 16 Kbytes
#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08010000) // Base @ of Sector 4, 64 Kbytes
#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x08020000) // Base @ of Sector 5, 128 Kbytes
#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x08040000) // Base @ of Sector 6, 128 Kbytes
#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x08060000) // Base @ of Sector 7, 128 Kbytes
#define ADDR_FLASH_SECTOR_8 ((uint32_t)0x08080000) // Base @ of Sector 8, 128 Kbytes
#define ADDR_FLASH_SECTOR_9 ((uint32_t)0x080A0000) // Base @ of Sector 9, 128 Kbytes
#define ADDR_FLASH_SECTOR_10 ((uint32_t)0x080C0000) // Base @ of Sector 10, 128 Kbytes
#define ADDR_FLASH_SECTOR_11 ((uint32_t)0x080E0000) // Base @ of Sector 11, 128 Kbytes
#define VECTOR_TABLE_ADDRESS ((uint32_t*)ADDR_FLASH_SECTOR_0)
#define VECTOR_TABLE_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_1 - ADDR_FLASH_SECTOR_0))
#define EEPROM_EMULATION_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_4 - ADDR_FLASH_SECTOR_2))
#define APP_START_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_3))
#define APP_SIZE ((uint32_t)(APP_MAX_SIZE - VECTOR_TABLE_SIZE - EEPROM_EMULATION_SIZE))
#define APP_CRC_WAS_CALCULATED_FLAG ((uint32_t)0x00000000)
#define APP_CRC_WAS_CALCULATED_FLAG_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 8))
#define APP_CRC_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 4))
#define ERASE_VOLTAGE_RANGE (uint8_t)((PWR->CSR & PWR_CSR_PVDO) ? VoltageRange_2 : VoltageRange_3)
typedef struct {
uint32_t crc_flag;
uint32_t crc;
} crc_info_t;
// Make sure the app image has the CRC bits set to '1' to later write the flag and CRC.
const crc_info_t __attribute__((section (".crcinfo"))) crc_info = {0xFFFFFFFF, 0xFFFFFFFF};
// Private functions
static uint16_t erase_sector(uint32_t sector);
static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len);
static void qmlui_check(int ind);
// Private variables
typedef struct {
bool check_done;
bool ok;
} _code_checks;
static _code_checks code_checks[2] = {0};
static int code_sectors[2] = {QMLUI_BASE, LISP_BASE};
// Private constants
static const uint32_t flash_addr[FLASH_SECTORS] = {
ADDR_FLASH_SECTOR_0,
ADDR_FLASH_SECTOR_1,
ADDR_FLASH_SECTOR_2,
ADDR_FLASH_SECTOR_3,
ADDR_FLASH_SECTOR_4,
ADDR_FLASH_SECTOR_5,
ADDR_FLASH_SECTOR_6,
ADDR_FLASH_SECTOR_7,
ADDR_FLASH_SECTOR_8,
ADDR_FLASH_SECTOR_9,
ADDR_FLASH_SECTOR_10,
ADDR_FLASH_SECTOR_11
};
static const uint16_t flash_sector[FLASH_SECTORS] = {
FLASH_Sector_0,
FLASH_Sector_1,
FLASH_Sector_2,
FLASH_Sector_3,
FLASH_Sector_4,
FLASH_Sector_5,
FLASH_Sector_6,
FLASH_Sector_7,
FLASH_Sector_8,
FLASH_Sector_9,
FLASH_Sector_10,
FLASH_Sector_11
};
uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
#ifdef USE_LISPBM
lispif_restart(false, false);
#endif
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
new_app_size += flash_addr[NEW_APP_BASE];
mc_interface_ignore_input_both(5000);
mc_interface_release_motor_override_both();
if (!mc_interface_wait_for_motor_release_both(3.0)) {
return 100;
}
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
for (int i = 0;i < NEW_APP_SECTORS;i++) {
if (new_app_size > flash_addr[NEW_APP_BASE + i]) {
uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE + i], ERASE_VOLTAGE_RANGE);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
timeout_configure_IWDT();
mc_interface_ignore_input_both(5000);
utils_sys_unlock_cnt();
return res;
}
} else {
break;
}
}
FLASH_Lock();
timeout_configure_IWDT();
mc_interface_ignore_input_both(100);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
uint16_t flash_helper_erase_bootloader(void) {
return erase_sector(flash_sector[BOOTLOADER_BASE]);
}
uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
return write_data(flash_addr[NEW_APP_BASE] + offset, data, len);
}
uint16_t flash_helper_erase_code(int ind) {
#ifdef USE_LISPBM
if (ind == CODE_IND_LISP) {
lispif_stop_lib();
}
#endif
code_checks[ind].check_done = false;
code_checks[ind].ok = false;
return erase_sector(flash_sector[code_sectors[ind]]);
}
uint16_t flash_helper_write_code(int ind, uint32_t offset, uint8_t *data, uint32_t len) {
code_checks[ind].check_done = false;
code_checks[ind].ok = false;
return write_data(flash_addr[code_sectors[ind]] + offset, data, len);
}
uint8_t* flash_helper_code_data(int ind) {
qmlui_check(ind);
if (code_checks[ind].check_done && code_checks[ind].ok) {
return (uint8_t*)(flash_addr[code_sectors[ind]]) + 8;
} else {
return 0;
}
}
uint32_t flash_helper_code_size(int ind) {
qmlui_check(ind);
if (code_checks[ind].check_done && code_checks[ind].ok) {
uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
int32_t index = 0;
return buffer_get_uint32(base, &index);
} else {
return 0;
}
}
uint16_t flash_helper_code_flags(int ind) {
qmlui_check(ind);
if (code_checks[ind].check_done && code_checks[ind].ok) {
uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
int32_t index = 6;
return buffer_get_uint16(base, &index);
} else {
return 0;
}
}
/**
* Stop the system and jump to the bootloader.
*/
void flash_helper_jump_to_bootloader(void) {
typedef void (*pFunction)(void);
mc_interface_release_motor_override();
usbDisconnectBus(&USBD1);
usbStop(&USBD1);
sdStop(&HW_UART_DEV);
palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
// Disable watchdog
timeout_configure_IWDT_slowest();
chSysDisable();
pFunction jump_to_bootloader;
// Variable that will be loaded with the start address of the application
volatile uint32_t* jump_address;
const volatile uint32_t* bootloader_address = (volatile uint32_t*)0x080E0000;
// Get jump address from application vector table
jump_address = (volatile uint32_t*) bootloader_address[1];
// Load this address into function pointer
jump_to_bootloader = (pFunction) jump_address;
// Clear pending interrupts
SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk;
// Disable all interrupts
for(int i = 0;i < 8;i++) {
NVIC->ICER[i] = NVIC->IABR[i];
}
// Set stack pointer
__set_MSP((uint32_t) (bootloader_address[0]));
// Jump to the bootloader
jump_to_bootloader();
}
uint8_t* flash_helper_get_sector_address(uint32_t fsector) {
uint8_t *res = 0;
for (int i = 0;i < FLASH_SECTORS;i++) {
if (flash_sector[i] == fsector) {
res = (uint8_t *)flash_addr[i];
break;
}
}
return res;
}
/**
* @brief Compute the CRC of the application code to verify its integrity
* @retval FAULT_CODE_NONE or FAULT_CODE_FLASH_CORRUPTION
*/
uint32_t flash_helper_verify_flash_memory(void) {
uint32_t crc;
// Look for a flag indicating that the CRC was previously computed.
// If it is blank (0xFFFFFFFF), calculate and store the CRC.
if(APP_CRC_WAS_CALCULATED_FLAG_ADDRESS[0] == APP_CRC_WAS_CALCULATED_FLAG) {
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
crc32_reset();
// compute vector table (sector 0)
crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
// skip emulated EEPROM (sector 1 and 2)
// compute application code
crc = crc32(APP_START_ADDRESS, (APP_SIZE) / 4);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
// A CRC over the full image should return zero.
return (crc == 0) ? FAULT_CODE_NONE : FAULT_CODE_FLASH_CORRUPTION;
} else {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
// Write the flag to indicate CRC has been computed.
uint16_t res = FLASH_ProgramWord((uint32_t)APP_CRC_WAS_CALCULATED_FLAG_ADDRESS, APP_CRC_WAS_CALCULATED_FLAG);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
return FAULT_CODE_FLASH_CORRUPTION;
}
// Compute flash crc including the new flag
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
crc32_reset();
// compute vector table (sector 0)
crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
// skip emulated EEPROM (sector 1 and 2)
// compute application code
crc = crc32(APP_START_ADDRESS, (APP_SIZE - 4) / 4);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
//Store CRC
res = FLASH_ProgramWord((uint32_t)APP_CRC_ADDRESS, crc);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
return FAULT_CODE_FLASH_CORRUPTION;
}
FLASH_Lock();
// reboot
NVIC_SystemReset();
return FAULT_CODE_NONE;
}
}
uint32_t flash_helper_verify_flash_memory_chunk(void) {
static uint32_t index = 0;
uint32_t chunk_size = 1024;
uint32_t res = FAULT_CODE_NONE;
uint32_t crc = 0;
uint32_t tot_bytes = VECTOR_TABLE_SIZE + APP_SIZE;
// Make sure RCC_AHB1Periph_CRC is enabled
if (index == 0) {
crc32_reset();
}
if ((index + chunk_size) >= tot_bytes) {
chunk_size = tot_bytes - index;
}
if (index < VECTOR_TABLE_SIZE) {
crc32(VECTOR_TABLE_ADDRESS + index / 4, chunk_size / 4);
} else {
crc = crc32(APP_START_ADDRESS + (index - VECTOR_TABLE_SIZE) / 4, chunk_size / 4);
}
index += chunk_size;
if (index >= tot_bytes) {
index = 0;
if (crc != 0) {
res = FAULT_CODE_FLASH_CORRUPTION;
}
}
return res;
}
static uint16_t erase_sector(uint32_t sector) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
mc_interface_ignore_input_both(5000);
mc_interface_release_motor_override_both();
if (!mc_interface_wait_for_motor_release_both(3.0)) {
return 100;
}
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
uint16_t res = FLASH_EraseSector(sector, ERASE_VOLTAGE_RANGE);
FLASH_Lock();
timeout_configure_IWDT();
mc_interface_ignore_input_both(100);
utils_sys_unlock_cnt();
return res;
}
static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len) {
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
mc_interface_ignore_input_both(5000);
mc_interface_release_motor_override_both();
if (!mc_interface_wait_for_motor_release_both(3.0)) {
return 100;
}
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
for (uint32_t i = 0;i < len;i++) {
uint16_t res = FLASH_ProgramByte(base + i, data[i]);
if (res != FLASH_COMPLETE) {
FLASH_Lock();
timeout_configure_IWDT();
mc_interface_ignore_input_both(5000);
utils_sys_unlock_cnt();
return res;
}
}
FLASH_Lock();
timeout_configure_IWDT();
mc_interface_ignore_input_both(100);
utils_sys_unlock_cnt();
return FLASH_COMPLETE;
}
static void qmlui_check(int ind) {
if (code_checks[ind].check_done) {
return;
}
uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
int32_t index = 0;
uint32_t qmlui_len = buffer_get_uint32(base, &index);
uint16_t qmlui_crc = buffer_get_uint16(base, &index);
if (qmlui_len <= QMLUI_MAX_SIZE) {
uint16_t crc_calc = crc16(base + index, qmlui_len + 2); // CRC includes the 2 byte flags
code_checks[ind].ok = crc_calc == qmlui_crc;
} else {
code_checks[ind].ok = false;
}
code_checks[ind].check_done = true;
}
#define VESC_IF_NVM_REGION_SIZE (ADDR_FLASH_SECTOR_9 - ADDR_FLASH_SECTOR_8)
/**
* @brief Reads len bytes to v from nvm at address
* @param v: array of bytes to which the result will be written
* @param len: number of bytes to read
* @param address: address of the first byte
* @retval Boolean indicating success or failure
*/
bool flash_helper_read_nvm(uint8_t *v, unsigned int len, unsigned int address) {
if ((address + len) > VESC_IF_NVM_REGION_SIZE) {
return false;
}
memcpy(v, (uint8_t*)(ADDR_FLASH_SECTOR_8 + address), len);
return true;
}
/**
* @brief Writes len bytes from v to nvm at address
* @param v: array of bytes to write
* @param len: number of bytes to write
* @param address: address of the first byte
* @retval Boolean indicating success or failure
*/
bool flash_helper_write_nvm(uint8_t *v, unsigned int len, unsigned int address) {
if ((address + len) > VESC_IF_NVM_REGION_SIZE) {
return false;
}
uint16_t res = write_data(ADDR_FLASH_SECTOR_8 + address, v, len);
return (res == FLASH_COMPLETE);
}
/**
* @brief Erase region of NVM used by packages.
* @retval Boolean indicating success or failure
*/
bool flash_helper_wipe_nvm(void) {
return (erase_sector(flash_sector[8]) == FLASH_COMPLETE);
}