mirror of https://github.com/rusefi/bldc.git
460 lines
13 KiB
C
460 lines
13 KiB
C
/*
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Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "flash_helper.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "utils.h"
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#include "mc_interface.h"
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#include "timeout.h"
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#include "hw.h"
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#include "crc.h"
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#include "buffer.h"
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#include <string.h>
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/*
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* Defines
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*/
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#define FLASH_SECTORS 12
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#define BOOTLOADER_BASE 11
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#define APP_BASE 0
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#define NEW_APP_BASE 8
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#define NEW_APP_SECTORS 3
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#define APP_MAX_SIZE (1024 * 128 * 4 - 8) // Note that the bootloader needs 8 extra bytes
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#define QMLUI_BASE 9
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#define LISP_BASE 10
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#define QMLUI_MAX_SIZE (1024 * 128 - 8)
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#define LISP_MAX_SIZE (1024 * 128 - 8)
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// Base address of the Flash sectors
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#define ADDR_FLASH_SECTOR_0 ((uint32_t)0x08000000) // Base @ of Sector 0, 16 Kbytes
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#define ADDR_FLASH_SECTOR_1 ((uint32_t)0x08004000) // Base @ of Sector 1, 16 Kbytes
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#define ADDR_FLASH_SECTOR_2 ((uint32_t)0x08008000) // Base @ of Sector 2, 16 Kbytes
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#define ADDR_FLASH_SECTOR_3 ((uint32_t)0x0800C000) // Base @ of Sector 3, 16 Kbytes
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#define ADDR_FLASH_SECTOR_4 ((uint32_t)0x08010000) // Base @ of Sector 4, 64 Kbytes
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#define ADDR_FLASH_SECTOR_5 ((uint32_t)0x08020000) // Base @ of Sector 5, 128 Kbytes
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#define ADDR_FLASH_SECTOR_6 ((uint32_t)0x08040000) // Base @ of Sector 6, 128 Kbytes
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#define ADDR_FLASH_SECTOR_7 ((uint32_t)0x08060000) // Base @ of Sector 7, 128 Kbytes
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#define ADDR_FLASH_SECTOR_8 ((uint32_t)0x08080000) // Base @ of Sector 8, 128 Kbytes
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#define ADDR_FLASH_SECTOR_9 ((uint32_t)0x080A0000) // Base @ of Sector 9, 128 Kbytes
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#define ADDR_FLASH_SECTOR_10 ((uint32_t)0x080C0000) // Base @ of Sector 10, 128 Kbytes
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#define ADDR_FLASH_SECTOR_11 ((uint32_t)0x080E0000) // Base @ of Sector 11, 128 Kbytes
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#define VECTOR_TABLE_ADDRESS ((uint32_t*)ADDR_FLASH_SECTOR_0)
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#define VECTOR_TABLE_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_1 - ADDR_FLASH_SECTOR_0))
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#define EEPROM_EMULATION_SIZE ((uint32_t)(ADDR_FLASH_SECTOR_4 - ADDR_FLASH_SECTOR_2))
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#define APP_START_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_3))
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#define APP_SIZE ((uint32_t)(APP_MAX_SIZE - VECTOR_TABLE_SIZE - EEPROM_EMULATION_SIZE))
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#define APP_CRC_WAS_CALCULATED_FLAG ((uint32_t)0x00000000)
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#define APP_CRC_WAS_CALCULATED_FLAG_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 8))
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#define APP_CRC_ADDRESS ((uint32_t*)(ADDR_FLASH_SECTOR_0 + APP_MAX_SIZE - 4))
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typedef struct {
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uint32_t crc_flag;
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uint32_t crc;
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} crc_info_t;
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// Make sure the app image has the CRC bits set to '1' to later write the flag and CRC.
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const crc_info_t __attribute__((section (".crcinfo"))) crc_info = {0xFFFFFFFF, 0xFFFFFFFF};
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// Private functions
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static uint16_t erase_sector(uint32_t sector);
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static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len);
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static void qmlui_check(int ind);
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// Private variables
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typedef struct {
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bool check_done;
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bool ok;
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} _code_checks;
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static _code_checks code_checks[2] = {0};
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static int code_sectors[2] = {QMLUI_BASE, LISP_BASE};
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// Private constants
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static const uint32_t flash_addr[FLASH_SECTORS] = {
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ADDR_FLASH_SECTOR_0,
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ADDR_FLASH_SECTOR_1,
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ADDR_FLASH_SECTOR_2,
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ADDR_FLASH_SECTOR_3,
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ADDR_FLASH_SECTOR_4,
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ADDR_FLASH_SECTOR_5,
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ADDR_FLASH_SECTOR_6,
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ADDR_FLASH_SECTOR_7,
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ADDR_FLASH_SECTOR_8,
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ADDR_FLASH_SECTOR_9,
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ADDR_FLASH_SECTOR_10,
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ADDR_FLASH_SECTOR_11
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};
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static const uint16_t flash_sector[FLASH_SECTORS] = {
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FLASH_Sector_0,
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FLASH_Sector_1,
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FLASH_Sector_2,
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FLASH_Sector_3,
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FLASH_Sector_4,
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FLASH_Sector_5,
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FLASH_Sector_6,
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FLASH_Sector_7,
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FLASH_Sector_8,
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FLASH_Sector_9,
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FLASH_Sector_10,
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FLASH_Sector_11
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};
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uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
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FLASH_Unlock();
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FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
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FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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new_app_size += flash_addr[NEW_APP_BASE];
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mc_interface_release_motor_override();
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mc_interface_ignore_input_both(5000);
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if (!mc_interface_wait_for_motor_release(3.0)) {
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return 100;
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}
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utils_sys_lock_cnt();
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timeout_configure_IWDT_slowest();
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for (int i = 0;i < NEW_APP_SECTORS;i++) {
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if (new_app_size > flash_addr[NEW_APP_BASE + i]) {
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uint16_t res = FLASH_EraseSector(flash_sector[NEW_APP_BASE + i], VoltageRange_3);
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if (res != FLASH_COMPLETE) {
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return res;
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}
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} else {
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break;
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}
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}
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return FLASH_COMPLETE;
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}
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uint16_t flash_helper_erase_bootloader(void) {
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return erase_sector(flash_sector[BOOTLOADER_BASE]);
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}
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uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_t len) {
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return write_data(flash_addr[NEW_APP_BASE] + offset, data, len);
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}
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uint16_t flash_helper_erase_code(int ind) {
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code_checks[ind].check_done = false;
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code_checks[ind].ok = false;
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return erase_sector(flash_sector[code_sectors[ind]]);
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}
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uint16_t flash_helper_write_code(int ind, uint32_t offset, uint8_t *data, uint32_t len) {
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code_checks[ind].check_done = false;
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code_checks[ind].ok = false;
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return write_data(flash_addr[code_sectors[ind]] + offset, data, len);
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}
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uint8_t* flash_helper_code_data(int ind) {
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qmlui_check(ind);
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if (code_checks[ind].check_done && code_checks[ind].ok) {
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return (uint8_t*)(flash_addr[code_sectors[ind]]) + 8;
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} else {
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return 0;
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}
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}
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uint32_t flash_helper_code_size(int ind) {
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qmlui_check(ind);
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if (code_checks[ind].check_done && code_checks[ind].ok) {
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uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
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int32_t index = 0;
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return buffer_get_uint32(base, &index);
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} else {
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return 0;
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}
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}
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uint16_t flash_helper_code_flags(int ind) {
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qmlui_check(ind);
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if (code_checks[ind].check_done && code_checks[ind].ok) {
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uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
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int32_t index = 6;
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return buffer_get_uint16(base, &index);
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} else {
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return 0;
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}
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}
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/**
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* Stop the system and jump to the bootloader.
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*/
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void flash_helper_jump_to_bootloader(void) {
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typedef void (*pFunction)(void);
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mc_interface_release_motor_override();
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usbDisconnectBus(&USBD1);
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usbStop(&USBD1);
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sdStop(&HW_UART_DEV);
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palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT);
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palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT);
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// Disable watchdog
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timeout_configure_IWDT_slowest();
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chSysDisable();
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pFunction jump_to_bootloader;
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// Variable that will be loaded with the start address of the application
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volatile uint32_t* jump_address;
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const volatile uint32_t* bootloader_address = (volatile uint32_t*)0x080E0000;
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// Get jump address from application vector table
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jump_address = (volatile uint32_t*) bootloader_address[1];
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// Load this address into function pointer
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jump_to_bootloader = (pFunction) jump_address;
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// Clear pending interrupts
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SCB->ICSR = SCB_ICSR_PENDSVCLR_Msk;
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// Disable all interrupts
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for(int i = 0;i < 8;i++) {
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NVIC->ICER[i] = NVIC->IABR[i];
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}
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// Set stack pointer
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__set_MSP((uint32_t) (bootloader_address[0]));
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// Jump to the bootloader
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jump_to_bootloader();
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}
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uint8_t* flash_helper_get_sector_address(uint32_t fsector) {
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uint8_t *res = 0;
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for (int i = 0;i < FLASH_SECTORS;i++) {
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if (flash_sector[i] == fsector) {
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res = (uint8_t *)flash_addr[i];
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break;
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}
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}
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return res;
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}
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/**
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* @brief Compute the CRC of the application code to verify its integrity
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* @retval FAULT_CODE_NONE or FAULT_CODE_FLASH_CORRUPTION
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*/
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uint32_t flash_helper_verify_flash_memory(void) {
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uint32_t crc;
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// Look for a flag indicating that the CRC was previously computed.
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// If it is blank (0xFFFFFFFF), calculate and store the CRC.
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if(APP_CRC_WAS_CALCULATED_FLAG_ADDRESS[0] == APP_CRC_WAS_CALCULATED_FLAG) {
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
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crc32_reset();
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// compute vector table (sector 0)
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crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
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// skip emulated EEPROM (sector 1 and 2)
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// compute application code
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crc = crc32(APP_START_ADDRESS, (APP_SIZE) / 4);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
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// A CRC over the full image should return zero.
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return (crc == 0) ? FAULT_CODE_NONE : FAULT_CODE_FLASH_CORRUPTION;
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} else {
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FLASH_Unlock();
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FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
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FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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// Write the flag to indicate CRC has been computed.
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uint16_t res = FLASH_ProgramWord((uint32_t)APP_CRC_WAS_CALCULATED_FLAG_ADDRESS, APP_CRC_WAS_CALCULATED_FLAG);
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if (res != FLASH_COMPLETE) {
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FLASH_Lock();
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return FAULT_CODE_FLASH_CORRUPTION;
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}
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// Compute flash crc including the new flag
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, ENABLE);
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crc32_reset();
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// compute vector table (sector 0)
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crc32(VECTOR_TABLE_ADDRESS, (VECTOR_TABLE_SIZE) / 4);
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// skip emulated EEPROM (sector 1 and 2)
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// compute application code
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crc = crc32(APP_START_ADDRESS, (APP_SIZE - 4) / 4);
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_CRC, DISABLE);
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//Store CRC
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res = FLASH_ProgramWord((uint32_t)APP_CRC_ADDRESS, crc);
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if (res != FLASH_COMPLETE) {
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FLASH_Lock();
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return FAULT_CODE_FLASH_CORRUPTION;
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}
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FLASH_Lock();
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// reboot
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NVIC_SystemReset();
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return FAULT_CODE_NONE;
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}
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}
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uint32_t flash_helper_verify_flash_memory_chunk(void) {
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static uint32_t index = 0;
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uint32_t chunk_size = 1024;
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uint32_t res = FAULT_CODE_NONE;
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uint32_t crc = 0;
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uint32_t tot_bytes = VECTOR_TABLE_SIZE + APP_SIZE;
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// Make sure RCC_AHB1Periph_CRC is enabled
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if (index == 0) {
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crc32_reset();
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}
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if ((index + chunk_size) >= tot_bytes) {
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chunk_size = tot_bytes - index;
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}
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if (index < VECTOR_TABLE_SIZE) {
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crc32(VECTOR_TABLE_ADDRESS + index / 4, chunk_size / 4);
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} else {
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crc = crc32(APP_START_ADDRESS + (index - VECTOR_TABLE_SIZE) / 4, chunk_size / 4);
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}
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index += chunk_size;
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if (index >= tot_bytes) {
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index = 0;
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if (crc != 0) {
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res = FAULT_CODE_FLASH_CORRUPTION;
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}
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}
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return res;
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}
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static uint16_t erase_sector(uint32_t sector) {
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FLASH_Unlock();
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FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
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FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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mc_interface_release_motor_override();
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mc_interface_ignore_input_both(5000);
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if (!mc_interface_wait_for_motor_release(3.0)) {
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return 100;
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}
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utils_sys_lock_cnt();
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timeout_configure_IWDT_slowest();
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uint16_t res = FLASH_EraseSector(sector, VoltageRange_3);
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if (res != FLASH_COMPLETE) {
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return res;
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}
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return FLASH_COMPLETE;
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}
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static uint16_t write_data(uint32_t base, uint8_t *data, uint32_t len) {
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FLASH_Unlock();
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FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
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FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
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mc_interface_release_motor_override();
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mc_interface_ignore_input_both(5000);
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if (!mc_interface_wait_for_motor_release(3.0)) {
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return 100;
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}
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utils_sys_lock_cnt();
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timeout_configure_IWDT_slowest();
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for (uint32_t i = 0;i < len;i++) {
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uint16_t res = FLASH_ProgramByte(base + i, data[i]);
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if (res != FLASH_COMPLETE) {
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return res;
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}
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}
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FLASH_Lock();
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timeout_configure_IWDT();
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mc_interface_ignore_input_both(5000);
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utils_sys_unlock_cnt();
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return FLASH_COMPLETE;
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}
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static void qmlui_check(int ind) {
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if (code_checks[ind].check_done) {
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return;
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}
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uint8_t *base = (uint8_t*)(flash_addr[code_sectors[ind]]);
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int32_t index = 0;
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uint32_t qmlui_len = buffer_get_uint32(base, &index);
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uint16_t qmlui_crc = buffer_get_uint16(base, &index);
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if (qmlui_len <= QMLUI_MAX_SIZE) {
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uint16_t crc_calc = crc16(base + index, qmlui_len + 2); // CRC includes the 2 byte flags
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code_checks[ind].ok = crc_calc == qmlui_crc;
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} else {
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code_checks[ind].ok = false;
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}
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code_checks[ind].check_done = true;
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}
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