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Cleaned up the lightouse bootloader driver a bit. #397
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@tobbeanton
tobbeanton committed Feb 25, 2019
1 parent d8fcb17 commit 3f51823
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Showing 2 changed files with 124 additions and 111 deletions.
49 changes: 39 additions & 10 deletions src/drivers/interface/lh_bootloader.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
*
* Crazyflie Firmware
*
* Copyright (C) 2011-2012 Bitcraze AB
* Copyright (C) Bitcraze AB
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
Expand All @@ -21,34 +21,63 @@
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* @file eeprom.h
* Driver for writing/reading the the lighthouse SPI flash mem.
* @file lh_bootloader.h
* Driver for writing/reading to the lighthouse SPI flash mem.
*
*/
#ifndef EERROM_H
#define EERROM_H
#ifndef LH_BOOTLOADER_H
#define LH_BOOTLOADER_H

#include <stdbool.h>
#include "i2cdev.h"

/**
* Initialize the i2c lighthouse module
* @param i2cPort I2C port ( a CPAL_InitTypeDef) the lighthouse is connected to.
* @param i2cPort I2C port (a CPAL_InitTypeDef) the lighthouse is connected to.
*
* @return True on success, else false.
*/
bool lhblInit(I2C_Dev *i2cPort);

/**
* Boot lighthouse to firmware.
*
* @return True on success, else false.
*/
bool lhblBootToFW(void);

bool lhblFlashWriteFW(uint8_t *data, uint32_t length);
/**
* Read data from lighthouse spi flash.
* @param address Address to write from
* @param length Length of data
* @param data Pointer to memory were data will be stored
*
* @return True on success, else false.
*/
bool lhblFlashRead(uint32_t address, uint16_t length, uint8_t *data);

bool lhblFlashWritePage(uint32_t address, uint16_t length, uint8_t *data);
/**
* Write FW data to lighthouse spi flash.
* @param data Data to write
* @param length Length of data
*
* @return True on success, else false.
*/
bool lhblFlashWriteFW(uint8_t *data, uint32_t length);

/**
* Erase firwmare section in lighthouse spi flash
*
* @return True on success, else false.
*/
bool lhblFlashEraseFirmware(void);

/**
* Wakeup lighthouse spi flash.
*
* @return True on success, else false.
*/
bool lhblFlashWakeup(void);

bool lhblFlashWaitComplete(void);

#endif // EERROM_H
#endif // LH_BOOTLOADER_H
186 changes: 85 additions & 101 deletions src/drivers/src/lh_bootloader.c
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
*
* Crazyflie control firmware
*
* Copyright (C) 2011-2012 Bitcraze AB
* Copyright (C) 2011 Bitcraze AB
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
Expand Down Expand Up @@ -50,26 +50,12 @@
#define FLASH_CMD_WAKEUP 0xAB



static uint8_t devAddr;
static I2C_Dev *I2Cx;
static bool isInit;
static uint8_t flashWriteBuf[LH_WRITE_BUF_SIZE];
static uint8_t flashReadBuf[LH_WRITE_BUF_SIZE];


typedef struct lhExchangeHeader_s
{
union {
struct {
uint8_t command;
uint16_t writeLen;
uint16_t readLen;
};
uint8_t data[5];
};
} lhExchangeHeader;

static bool lhExchange(uint16_t writeLen, uint8_t* writeData, uint16_t readLen, uint8_t* readData)
{
bool status = false;
Expand All @@ -92,6 +78,19 @@ static void lhblHeaderPrepare(uint16_t writeLen, uint16_t readLen, uint8_t* buff
buff[4] = (uint8_t)((readLen >> 8) & 0x000000FF);
}

static bool verify(uint8_t *dataA, uint8_t *dataB, uint16_t length)
{
for (int i = 0; i < length; i++)
{
if (dataA[i] != dataB[i])
{
return false;
}
}

return true;
}

bool lhblInit(I2C_Dev *i2cPort)
{
if (isInit)
Expand All @@ -110,6 +109,66 @@ bool lhblTest()
return true;
}

static bool lhblFlashReadStatus(uint8_t* status)
{
lhblHeaderPrepare(1, 1, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_READ_STATUS;

return lhExchange(5+1, flashWriteBuf, 1, status);
}

static bool lhblFlashWriteEnable(void)
{
lhblHeaderPrepare(1, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_WRITE_EN;

return lhExchange(5 + 1, flashWriteBuf, 0, 0);
}

static bool lhblFlashEraseBlock64k(uint32_t address)
{
lhblHeaderPrepare(4, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_ERASE_SECTOR;
flashWriteBuf[6] = (uint8_t)((address >> 16) & 0x000000FF);
flashWriteBuf[7] = (uint8_t)((address >> 8) & 0x000000FF);
flashWriteBuf[8] = (uint8_t)((address >> 0) & 0x000000FF);

return lhExchange(5 + 4, flashWriteBuf, 0, 0);
}

static bool lhblFlashWaitComplete(void)
{
bool status;
uint8_t flashStatus;

status = lhblFlashReadStatus(&flashStatus);

while ((flashStatus & 0x01) != 0)
{
vTaskDelay(M2T(1));
status &= lhblFlashReadStatus(&flashStatus);
}

return status;
}

static bool lhblFlashWritePage(uint32_t address, uint16_t length, uint8_t *data)
{
ASSERT(address >= LH_FW_ADDR);
ASSERT(length <= LH_FLASH_PAGE_SIZE);

lhblFlashWriteEnable();

lhblHeaderPrepare(4 + length, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_WRITE_PAGE;
flashWriteBuf[6] = (uint8_t)((address >> 16) & 0x000000FF);
flashWriteBuf[7] = (uint8_t)((address >> 8) & 0x000000FF);
flashWriteBuf[8] = (uint8_t)((address >> 0) & 0x000000FF);

memcpy(&flashWriteBuf[9], data, length);

return lhExchange(5 + 4 + length, flashWriteBuf, 0, 0);
}

bool lhblBootToFW(void)
{
Expand All @@ -134,14 +193,6 @@ bool lhblFlashRead(uint32_t address, uint16_t length, uint8_t *data)
return lhExchange(5 + 4, flashWriteBuf, length, data);
}

bool lhblFlashReadStatus(uint8_t* status)
{
lhblHeaderPrepare(1, 1, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_READ_STATUS;

return lhExchange(5+1, flashWriteBuf, 1, status);
}

bool lhblFlashWakeup(void)
{
lhblHeaderPrepare(1, 0, flashWriteBuf);
Expand All @@ -150,25 +201,20 @@ bool lhblFlashWakeup(void)
return lhExchange(5 + 1, flashWriteBuf, 0, 0);
}

bool lhblFlashWriteEnable(void)
bool lhblFlashEraseFirmware(void)
{
lhblHeaderPrepare(1, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_WRITE_EN;

return lhExchange(5 + 1, flashWriteBuf, 0, 0);
}
bool status;

bool verify(uint8_t *dataA, uint8_t *dataB, uint16_t length)
{
for (int i = 0; i < length; i++)
{
if (dataA[i] != dataB[i])
{
return false;
}
}
/* Erase first 64K */
lhblFlashWriteEnable();
status = lhblFlashEraseBlock64k(LH_FW_ADDR);
status &= lhblFlashWaitComplete();
/* Erase last 64K */
lhblFlashWriteEnable();
status &= lhblFlashEraseBlock64k(LH_FW_ADDR + 0x10000);
status &= lhblFlashWaitComplete();

return true;
return status;
}

bool lhblFlashWriteFW(uint8_t *data, uint32_t length)
Expand Down Expand Up @@ -215,65 +261,3 @@ bool lhblFlashWriteFW(uint8_t *data, uint32_t length)

return status;
}

bool lhblFlashWritePage(uint32_t address, uint16_t length, uint8_t *data)
{
ASSERT(address >= LH_FW_ADDR);
ASSERT(length <= LH_FLASH_PAGE_SIZE);

lhblFlashWriteEnable();

lhblHeaderPrepare(4 + length, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_WRITE_PAGE;
flashWriteBuf[6] = (uint8_t)((address >> 16) & 0x000000FF);
flashWriteBuf[7] = (uint8_t)((address >> 8) & 0x000000FF);
flashWriteBuf[8] = (uint8_t)((address >> 0) & 0x000000FF);

memcpy(&flashWriteBuf[9], data, length);

return lhExchange(5 + 4 + length, flashWriteBuf, 0, 0);
}

bool lhblFlashEraseBlock64k(uint32_t address)
{
lhblHeaderPrepare(4, 0, flashWriteBuf);
flashWriteBuf[5] = FLASH_CMD_ERASE_SECTOR;
flashWriteBuf[6] = (uint8_t)((address >> 16) & 0x000000FF);
flashWriteBuf[7] = (uint8_t)((address >> 8) & 0x000000FF);
flashWriteBuf[8] = (uint8_t)((address >> 0) & 0x000000FF);

return lhExchange(5 + 4, flashWriteBuf, 0, 0);
}

bool lhblFlashWaitComplete(void)
{
bool status;
uint8_t flashStatus;

status = lhblFlashReadStatus(&flashStatus);

while ((flashStatus & 0x01) != 0)
{
vTaskDelay(M2T(1));
status &= lhblFlashReadStatus(&flashStatus);
}

return status;
}


bool lhblFlashEraseFirmware(void)
{
bool status;

/* Erase first 64K */
lhblFlashWriteEnable();
status = lhblFlashEraseBlock64k(LH_FW_ADDR);
status &= lhblFlashWaitComplete();
/* Erase last 64K */
lhblFlashWriteEnable();
status &= lhblFlashEraseBlock64k(LH_FW_ADDR + 0x10000);
status &= lhblFlashWaitComplete();

return status;
}

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