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tools/bootloader: add force-erase option
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If the STM32H7 fails to program or erase a full chunk of 256 bytes, the
ECC check will trigger a busfault when trying to read from it.

To speed up erasing and optimize wear, we read before erasing to check
if it actually needs erasing. That's when a busfault happens and the
erase time outs.

The workaround is to add an option to do a full erase without check.

Credit goes to:
ArduPilot/ardupilot#22090

And the protocol option added to the bootloader is the same as for
ArduPilot, so compatible.

Signed-off-by: Julian Oes <[email protected]>
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@julianoes
julianoes committed May 22, 2024
1 parent 4a13e49 commit 21e550f
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Showing 5 changed files with 56 additions and 36 deletions.
25 changes: 20 additions & 5 deletions Tools/px_uploader.py
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Original file line number Diff line number Diff line change
Expand Up @@ -195,6 +195,7 @@ class uploader(object):
GET_CHIP = b'\x2c' # rev5+ , get chip version
SET_BOOT_DELAY = b'\x2d' # rev5+ , set boot delay
GET_CHIP_DES = b'\x2e' # rev5+ , get chip description in ASCII
CHIP_FULL_ERASE = b'\x40' # full erase of flash, rev6+
MAX_DES_LENGTH = 20

REBOOT = b'\x30'
Expand Down Expand Up @@ -235,6 +236,7 @@ def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
self.baudrate_bootloader = baudrate_bootloader
self.baudrate_flightstack = baudrate_flightstack
self.baudrate_flightstack_idx = -1
self.force_erase = False

def close(self):
if self.port is not None:
Expand Down Expand Up @@ -423,8 +425,14 @@ def __drawProgressBar(self, label, progress, maxVal):
def __erase(self, label):
print("Windowed mode: %s" % self.ackWindowedMode)
print("\n", end='')
self.__send(uploader.CHIP_ERASE +
uploader.EOC)

if self.force_erase:
print("Trying force erase of full chip...\n")
self.__send(uploader.CHIP_FULL_ERASE +
uploader.EOC)
else:
self.__send(uploader.CHIP_ERASE +
uploader.EOC)

# erase is very slow, give it 30s
deadline = _time() + 30.0
Expand All @@ -441,9 +449,14 @@ def __erase(self, label):

if self.__trySync():
self.__drawProgressBar(label, 10.0, 10.0)
if self.force_erase:
print("\nForce erase done.\n")
return

raise RuntimeError("timed out waiting for erase")
if self.force_erase:
raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
else:
raise RuntimeError("timed out waiting for erase")

# send a PROG_MULTI command to write a collection of bytes
def __program_multi(self, data, windowMode):
Expand Down Expand Up @@ -582,7 +595,8 @@ def identify(self):
self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

# upload the firmware
def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
self.force_erase = force_erase
# select correct binary
found_suitable_firmware = False
for file in fw_list:
Expand Down Expand Up @@ -790,6 +804,7 @@ def main():
parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
Expand Down Expand Up @@ -907,7 +922,7 @@ def main():

try:
# ok, we have a bootloader, try flashing it
up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)

# if we made this far without raising exceptions, the upload was successful
successful = True
Expand Down
12 changes: 10 additions & 2 deletions platforms/nuttx/src/bootloader/common/bl.c
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,7 @@
#define PROTO_RESERVED_0X37 0x37 // Reserved
#define PROTO_RESERVED_0X38 0x38 // Reserved
#define PROTO_RESERVED_0X39 0x39 // Reserved
#define PROTO_CHIP_FULL_ERASE 0x40 // Full erase, without any flash wear optimization

#define PROTO_PROG_MULTI_MAX 64 // maximum PROG_MULTI size
#define PROTO_READ_MULTI_MAX 255 // size of the size field
Expand Down Expand Up @@ -649,6 +650,8 @@ bootloader(unsigned timeout)

led_on(LED_ACTIVITY);

bool full_erase = false;

// handle the command byte
switch (c) {

Expand Down Expand Up @@ -728,6 +731,10 @@ bootloader(unsigned timeout)
// success reply: INSYNC/OK
// erase failure: INSYNC/FAILURE
//
case PROTO_CHIP_FULL_ERASE:
full_erase = true;

// Fallthrough
case PROTO_CHIP_ERASE:

/* expect EOC */
Expand Down Expand Up @@ -755,17 +762,18 @@ bootloader(unsigned timeout)
arch_flash_unlock();

for (int i = 0; flash_func_sector_size(i) != 0; i++) {
flash_func_erase_sector(i);
flash_func_erase_sector(i, full_erase);
}

// disable the LED while verifying the erase
led_set(LED_OFF);

// verify the erase
for (address = 0; address < board_info.fw_size; address += 4)
for (address = 0; address < board_info.fw_size; address += 4) {
if (flash_func_read_word(address) != 0xffffffff) {
goto cmd_fail;
}
}

address = 0;
SET_BL_STATE(STATE_PROTO_CHIP_ERASE);
Expand Down
4 changes: 3 additions & 1 deletion platforms/nuttx/src/bootloader/common/bl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,8 @@

#pragma once

#include <stdbool.h>

/*****************************************************************************
* Generic bootloader functions.
*/
Expand Down Expand Up @@ -105,7 +107,7 @@ extern void board_deinit(void);
extern uint32_t board_get_devices(void);
extern void clock_deinit(void);
extern uint32_t flash_func_sector_size(unsigned sector);
extern void flash_func_erase_sector(unsigned sector);
extern void flash_func_erase_sector(unsigned sector, bool force);
extern void flash_func_write_word(uintptr_t address, uint32_t word);
extern uint32_t flash_func_read_word(uintptr_t address);
extern uint32_t flash_func_read_otp(uintptr_t address);
Expand Down
42 changes: 21 additions & 21 deletions platforms/nuttx/src/bootloader/nxp/imxrt_common/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -395,6 +395,24 @@ flash_func_sector_size(unsigned sector)
return 0;
}

/* imxRT uses Flash lib, not up_progmem so let's stub it here */
up_progmem_ispageerased(unsigned sector)
{
const uint32_t bytes_per_sector = flash_func_sector_size(sector);
uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
const uint32_t uint32_per_sector = bytes_per_sector / sizeof(*address);

int blank = 0; /* Assume it is Bank */

for (uint32_t i = 0; i < uint32_per_sector; i++) {
if (address[i] != 0xffffffff) {
blank = -1; /* It is not blank */
break;
}
}

return blank;
}

/*!
* @name Configuration Option
Expand All @@ -407,40 +425,22 @@ flash_func_sector_size(unsigned sector)
* */
locate_code(".ramfunc")
void
flash_func_erase_sector(unsigned sector)
flash_func_erase_sector(unsigned sector, bool force)
{

if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
return;
}

/* blank-check the sector */
const uint32_t bytes_per_sector = flash_func_sector_size(sector);
uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
const uint32_t uint32_per_sector = bytes_per_sector / sizeof(*address);
bool blank = true;

for (uint32_t i = 0; i < uint32_per_sector; i++) {
if (address[i] != 0xffffffff) {
blank = false;
break;
}
}
if (force || flash_func_is_sector_blank(sector) != 0) {
struct flexspi_nor_config_s *pConfig = &g_bootConfig;


struct flexspi_nor_config_s *pConfig = &g_bootConfig;

/* erase the sector if it failed the blank check */
if (!blank) {
uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
irqstate_t flags;
flags = enter_critical_section();
volatile uint32_t status = ROM_FLEXSPI_NorFlash_Erase(1, pConfig, (uintptr_t) offset, bytes_per_sector);
leave_critical_section(flags);
UNUSED(status);
}


}

void
Expand Down
9 changes: 2 additions & 7 deletions platforms/nuttx/src/bootloader/stm/stm32_common/main.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -466,18 +466,13 @@ flash_func_sector_size(unsigned sector)
}

void
flash_func_erase_sector(unsigned sector)
flash_func_erase_sector(unsigned sector, bool force)
{
if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
return;
}

/* blank-check the sector */

bool blank = up_progmem_ispageerased(sector) == 0;

/* erase the sector if it failed the blank check */
if (!blank) {
if (force || (up_progmem_ispageerased(sector) != 0)) {
up_progmem_eraseblock(sector);
}
}
Expand Down

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