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OpenBLT: shared params between BL and main FW (#268) 

Co-authored-by: Andrey Gusakov <dron0gus@gmail.com>
This commit is contained in:
rusefillc 2023-06-15 05:04:08 -04:00 committed by GitHub
parent 790232b778
commit 0f8fe7aec5
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GPG Key ID: 4AEE18F83AFDEB23
9 changed files with 370 additions and 7 deletions
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4
firmware/Makefile
View File

@ -225,6 +225,10 @@ endif
ifeq ($(USE_OPENBLT),yes)
# Reserve start of flash for OpenBLT
USE_OPT += -Wl,--defsym=USE_BOOTLOADER=1
DDEFS += -DUSE_OPENBLT=TRUE
# Shared params
INCDIR += boards/f1_common/openblt
CSRC += boards/f1_common/openblt/shared_params.c
endif
#

14
firmware/app.ld
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@ -73,6 +73,20 @@ SECTIONS
KEEP(*(.bl.*))
. = ALIGN(4);
} > blflash AT > blflash
/* shared between main FW and OpenBLT */
.shared (NOLOAD) :
{
. = ALIGN(4);
_sshared = .;
__shared_start__ = _sshared;
*(.shared)
*(.shared.*)
KEEP(*(.shared))
. = ALIGN(4);
_eshared = .;
__shared_end__ = _eshared;
} > shared
}
/* Generic rules inclusion.*/

7
firmware/boards/f1_common/f1_port.cpp
View File

@ -5,6 +5,13 @@
#include "hal.h"
#include "hal_mfs.h"
#if USE_OPENBLT
/* communication with OpenBLT that is plain C, not to modify external file */
extern "C" {
#include "openblt/shared_params.h"
};
#endif
// Storage
// TODO: runtime detection?
static const MFSConfig mfscfg1 = {

19
firmware/boards/f1_common/openblt/STM32F103RB_FLASH.ld
View File

@ -31,6 +31,10 @@
/* Entry Point */
ENTRY(Reset_Handler)
/* First 16 bytes of RAM are reserved for shared region
* between FW and bootloader */
_OpenBLT_Shared_Params_Size = 16;
/* Highest address of the user mode stack */
_estack = 0x20005000; /* end of RAM */
/* Generate a link error if heap and stack don't fit into RAM */
@ -40,13 +44,26 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
/* Specify the memory areas */
MEMORY
{
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K
SHARED (xrw) : ORIGIN = 0x20000000, LENGTH = _OpenBLT_Shared_Params_Size
RAM (xrw) : ORIGIN = 0x20000000 + _OpenBLT_Shared_Params_Size, LENGTH = 20K - _OpenBLT_Shared_Params_Size
FLASH (rx) : ORIGIN = 0x8000000, LENGTH = 8K
}
/* Define output sections */
SECTIONS
{
.shared (NOLOAD) :
{
. = ALIGN(4);
_sshared = .;
__shared_start__ = _sshared;
*(.shared)
*(.shared.*)
KEEP(*(.shared))
. = ALIGN(4);
_eshared = .;
__shared_end__ = _eshared;
} >SHARED
/* The startup code goes first into FLASH */
.isr_vector :
{

11
firmware/boards/f1_common/openblt/hooks.c
View File

@ -2,6 +2,7 @@
* Include files
****************************************************************************************/
#include "boot.h" /* bootloader generic header */
#include "shared_params.h" /* Shared parameters header */
#include "led.h" /* LED driver header */
#include "stm32f1xx.h" /* STM32 registers and drivers */
#include "stm32f1xx_ll_gpio.h" /* STM32 LL GPIO header */
@ -29,8 +30,14 @@ void BackDoorInitHook(void)
****************************************************************************************/
blt_bool BackDoorEntryHook(void)
{
/* default implementation always activates the bootloader after a reset */
return BLT_TRUE;
uint8_t value = 0x00;
if (SharedParamsReadByIndex(0, &value) &&
(value == 0x01)) {
/* clear */
SharedParamsWriteByIndex(0, 0x00);
return BLT_TRUE;
}
return BLT_FALSE;
} /*** end of BackDoorEntryHook ***/
#endif /* BOOT_BACKDOOR_HOOKS_ENABLE > 0 */

250
firmware/boards/f1_common/openblt/shared_params.c Normal file
View File

@ -0,0 +1,250 @@
/************************************************************************************//**
* \file Demo/ARMCM4_STM32F4_Nucleo_F429ZI_GCC/Prog/shared_params.c
* \brief Shared RAM parameters source file.
* \ingroup Prog_ARMCM4_STM32F4_Nucleo_F429ZI_GCC
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2021 by Feaser http://www.feaser.com All rights reserved
*
*----------------------------------------------------------------------------------------
* L I C E N S E
*----------------------------------------------------------------------------------------
* This file is part of OpenBLT. OpenBLT 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.
*
* OpenBLT 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 have received a copy of the GNU General Public License along with OpenBLT. It
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
*
* \endinternal
****************************************************************************************/
/****************************************************************************************
* Include files
****************************************************************************************/
#include <stddef.h> /* Standard definitions (NULL). */
#include "shared_params.h" /* Shared parameters header. */
/****************************************************************************************
* Macro definitions
****************************************************************************************/
/** \brief Constant parameter buffer identifier. This value is always located as the
* start of the buffer to validate the the RAM contains valid shared parameters.
*/
#define SHARED_PARAMS_BUFFER_ID (0xCAFEBABEu)
/****************************************************************************************
* Type definitions
****************************************************************************************/
/** \brief Layout of the shared parameters RAM buffer. */
typedef struct t_shared_params_buffer
{
/** \brief Fixed buffer identifier to validate that the RAM contains valid shared
* parameters.
*/
uint32_t identifier;
/** \brief Array for the actual parameter data. */
uint8_t data[SHARED_PARAMS_CFG_BUFFER_DATA_LEN];
/** \brief Checksum value of all the bytes in the buffer, excluding this checksum
* value of obvious reasons. The checksum is calculated as the Two's
* complement of the sum of the bytes.
*/
uint16_t checksum;
} tSharedParamsBuffer;
static tSharedParamsBuffer sharedParamsBuffer __attribute__ ((section (".shared")));
/****************************************************************************************
* Function prototypes
****************************************************************************************/
static bool SharedParamsValidateBuffer(void);
static void SharedParamsWriteChecksum(void);
static bool SharedParamsVerifyChecksum(void);
static uint16_t SharedParamsCalculateChecksum(void);
/************************************************************************************//**
** \brief Initializes the shared RAM parameters module.
** \return none.
**
****************************************************************************************/
void SharedParamsInit(void)
{
uint32_t byteIdx;
/* The shared parameter buffer does not get initialized by the C-startup code. Another
* previously running program could have initialized it, in which case it is ready
* for use and nothing more needs to be done.
*/
if (!SharedParamsValidateBuffer())
{
/* The shared parameter buffer was not yet initialized by a running program. This
* typically happens after a cold reset where the RAM contents were lost. In this
* case we need to explicitly configure and initialize it, since the C-startup code
* was configured to not do this.
*
* The initialization consists of setting the buffer identifier, zeroing the
* actual parameter data and updating the checksum at the end.
*/
sharedParamsBuffer.identifier = SHARED_PARAMS_BUFFER_ID;
for (byteIdx=0; byteIdx < SHARED_PARAMS_CFG_BUFFER_DATA_LEN; byteIdx++)
{
sharedParamsBuffer.data[byteIdx] = 0;
}
SharedParamsWriteChecksum();
}
} /*** end of SharedParamsInit ***/
/************************************************************************************//**
** \brief Reads a data byte from the shared parameter buffer at the specified index.
** \param idx Index into the parameter data array. A valid value is between 0 and
** (SHARED_PARAMS_CFG_BUFFER_DATA_LEN - 1).
** \param value Pointer to where the read data value is stored.
** \return True if successful, false otherwise.
**
****************************************************************************************/
bool SharedParamsReadByIndex(uint32_t idx, uint8_t * value)
{
bool result = false;
/* Only continue if the buffer and the specified parameters are valid. */
if ( (SharedParamsValidateBuffer()) &&
(idx < SHARED_PARAMS_CFG_BUFFER_DATA_LEN) &&
(value != NULL) )
{
/* Read the value and update the result. */
*value = sharedParamsBuffer.data[idx];
result = true;
}
/* Give the result back to the caller. */
return result;
} /*** end of SharedParamsReadByIndex ***/
/************************************************************************************//**
** \brief Writes a data byte to the shared parameter buffer at the specified index.
** \param idx Index into the parameter data array. A valid value is between 0 and
** (SHARED_PARAMS_CFG_BUFFER_DATA_LEN - 1).
** \param value Value to write.
** \return True if successful, false otherwise.
**
****************************************************************************************/
bool SharedParamsWriteByIndex(uint32_t idx, uint8_t value)
{
bool result = false;
/* Only continue if the buffer and the specified parameters are valid. */
if ( (SharedParamsValidateBuffer()) &&
(idx < SHARED_PARAMS_CFG_BUFFER_DATA_LEN) )
{
/* Write the value. */
sharedParamsBuffer.data[idx] = value;
/* Update the checksum since the contents were just changed. */
SharedParamsWriteChecksum();
/* Update the result. */
result = true;
}
/* Give the result back to the caller. */
return result;
} /*** end of SharedParamsWriteByIndex ***/
/************************************************************************************//**
** \brief Validates the shared parameter buffer contents by looking at the table
** identifier and verifying its checksum.
** \return True if successful, false otherwise.
**
****************************************************************************************/
static bool SharedParamsValidateBuffer(void)
{
bool result = false;
/* Perform validation. */
if ( (sharedParamsBuffer.identifier == SHARED_PARAMS_BUFFER_ID) &&
(SharedParamsVerifyChecksum()) )
{
/* The shared parameter buffer is valid, so update the result value. */
result = true;
}
/* Give the result back to the caller. */
return result;
} /*** end of SharedParamsValitabeTable ***/
/************************************************************************************//**
** \brief Calculates and writes the checksum into the buffer.
** \return none.
**
****************************************************************************************/
static void SharedParamsWriteChecksum(void)
{
/* Calculate and write the checksum. */
sharedParamsBuffer.checksum = SharedParamsCalculateChecksum();
} /*** end of SharedParamsWriteChecksum ***/
/************************************************************************************//**
** \brief Calculates and verifies the checksum that is currently present in the
** buffer.
** \return True is the checksum is correct, false otherwise.
**
****************************************************************************************/
static bool SharedParamsVerifyChecksum(void)
{
bool result = false;
/* Calculate and verify the checksum. */
if (SharedParamsCalculateChecksum() == sharedParamsBuffer.checksum)
{
/* Checksum is correct, so update the result value. */
result = true;
}
/* Give the result back to the caller. */
return result;
} /*** end of SharedParamsVerifyChecksum ***/
/************************************************************************************//**
** \brief Calculates and returns the checksum value for the current contents in the
** buffer. The checksum is calculated by taking the sum of all bytes in the
** parameter buffer (excluding the checksum at the end) and them taking the
** two's complement value of it.
** \return The calculated checksum value.
**
****************************************************************************************/
static uint16_t SharedParamsCalculateChecksum(void)
{
uint16_t result = 0;
uint32_t byteIdx;
/* Add the identifier bytes to the checksum. */
result += (uint8_t)sharedParamsBuffer.identifier;
result += (uint8_t)(sharedParamsBuffer.identifier >> 8u);
result += (uint8_t)(sharedParamsBuffer.identifier >> 16u);
result += (uint8_t)(sharedParamsBuffer.identifier >> 24u);
/* Loop through the parameter data array. */
for (byteIdx=0; byteIdx<SHARED_PARAMS_CFG_BUFFER_DATA_LEN; byteIdx++)
{
/* Add parameter data byte to the checksum. */
result += (uint8_t)sharedParamsBuffer.data[byteIdx];
}
/* Determine one's complement. */
result = ~result;
/* Determine two's complement. */
result += 1;
/* Give the result back to the caller. */
return result;
} /*** end of SharedParamsCalculateChecksum ***/
/*********************************** end of shared_params.c ****************************/

57
firmware/boards/f1_common/openblt/shared_params.h Normal file
View File

@ -0,0 +1,57 @@
/************************************************************************************//**
* \file Demo/ARMCM4_STM32F4_Nucleo_F429ZI_GCC/Prog/shared_params.h
* \brief Shared RAM parameters header file.
* \ingroup Prog_ARMCM4_STM32F4_Nucleo_F429ZI_GCC
* \internal
*----------------------------------------------------------------------------------------
* C O P Y R I G H T
*----------------------------------------------------------------------------------------
* Copyright (c) 2021 by Feaser http://www.feaser.com All rights reserved
*
*----------------------------------------------------------------------------------------
* L I C E N S E
*----------------------------------------------------------------------------------------
* This file is part of OpenBLT. OpenBLT 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.
*
* OpenBLT 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 have received a copy of the GNU General Public License along with OpenBLT. It
* should be located in ".\Doc\license.html". If not, contact Feaser to obtain a copy.
*
* \endinternal
****************************************************************************************/
#ifndef SHARED_PARAMS_H
#define SHARED_PARAMS_H
/****************************************************************************************
* Include files
****************************************************************************************/
#include <stdint.h> /* Standard integer types. */
#include <stdbool.h> /* Standard boolean types. */
/****************************************************************************************
* Configuration macros
****************************************************************************************/
/** \brief Configuration macro for specifying the size of the data inside the parameter
* buffer. This is the length in bytes of the actual parameter data, so
* excluding the bufferId and checksum.
*/
#define SHARED_PARAMS_CFG_BUFFER_DATA_LEN (16 - 4 - 2)
/****************************************************************************************
* Function prototypes
****************************************************************************************/
void SharedParamsInit(void);
bool SharedParamsReadByIndex(uint32_t idx, uint8_t * value);
bool SharedParamsWriteByIndex(uint32_t idx, uint8_t value);
#endif /* SHARED_PARAMS_H */
/*********************************** end of shared_params.h ****************************/

2
firmware/boards/f1_dual_rev1/openblt/blt_conf.h
View File

@ -89,7 +89,7 @@
* also be implemented in a way that disables the backdoor entry altogether.
*/
/** \brief Enable/disable the backdoor override hook functions. */
#define BOOT_BACKDOOR_HOOKS_ENABLE (0)
#define BOOT_BACKDOOR_HOOKS_ENABLE (1)
/****************************************************************************************

13
firmware/boards/f1_dual_rev1/wideband_layout.ld
View File

@ -2,12 +2,18 @@
* STM32F103xB memory setup.
*/
/* OpenBLT code */
_OpenBLT_Flash_Size = DEFINED(USE_BOOTLOADER) ? 8k : 0;
/* OpenBLT <-> main FW shared area */
_OpenBLT_Shared_Params_Size = DEFINED(USE_BOOTLOADER) ? 16 : 0;
MEMORY
{
/* empty section to keep linker happy */
blflash (rx) : org = 0x08000000, len = 0
appflash (rx) : org = DEFINED(USE_BOOTLOADER) ? (0x08000000 + 8k) : 0x08000000, len = DEFINED(USE_BOOTLOADER) ? (256k - 8k - 8k) : (256k - 8k)
configflash (rx) : org = 0x08000000 + 256k - 8k, len = 8k
appflash (rx) : org = (0x08000000 + _OpenBLT_Flash_Size), len = (256k - _OpenBLT_Flash_Size - 8k)
configflash (rx) : org = (0x08000000 + 256k - 8k), len = 8k
flash1 (rx) : org = 0x00000000, len = 0
flash2 (rx) : org = 0x00000000, len = 0
flash3 (rx) : org = 0x00000000, len = 0
@ -15,7 +21,8 @@ MEMORY
flash5 (rx) : org = 0x00000000, len = 0
flash6 (rx) : org = 0x00000000, len = 0
flash7 (rx) : org = 0x00000000, len = 0
ram0 (wx) : org = 0x20000200, len = 48k
shared (wx) : org = 0x20000000, len = _OpenBLT_Shared_Params_Size
ram0 (wx) : org = 0x20000000 + _OpenBLT_Shared_Params_Size, len = 48k - _OpenBLT_Shared_Params_Size
ram1 (wx) : org = 0x00000000, len = 0
ram2 (wx) : org = 0x00000000, len = 0
ram3 (wx) : org = 0x00000000, len = 0